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오리가미 1T2R 병렬형 로봇의 설계 및 제어

김하연1, 니가투핫산 2, 최윤호3, 박상용4, 김도익1,#orcid

Design and Control of Origami 1T2R Parallel Robot

Hayeon Kim1, Hassen Nigatu2, Yun Ho Choi3, Sang Yong Park4, Doik Kim1,#orcid
Journal of the Korean Society for Precision Engineering 2024;41(10):783-788.
Published online: October 1, 2024

1 한국과학기술연구원 지능로봇연구단

2 Zhejian 대학교 로보틱스 연구소

3 한국항공우주연구원 위성기술연구개발본부

4 한라대학교 기계자동차로봇공학부

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#E-mail: doikkim@kist.re.kr, TEL: +82-2-958-5750
• Received: February 15, 2024   • Revised: July 31, 2024   • Accepted: August 9, 2024

Copyright © The Korean Society for Precision Engineering

This is an Open-Access article distributed under the terms of the Creative Commons Attribution Non-Commercial License (http://creativecommons.org/licenses/by-nc/3.0) which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.

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  • Parallel robots exhibit superior precision to serial robots. They operate with reduced power consumption due to load distribution among individual motors. However, symmetrical parallel robots employing a 1T2R structure encounter challenges with parasitic movements at the end-effector, leading to control complexities and application limitations. This study aimed to downsize the robot while ensuring its operational range by employing origami techniques. Addressing the inherent weakness of origami’s stiffness, various methods of material stacking and designed joints with diverse materials and thicknesses were proposed to meet specific angle requirements for each component. The developed control model was validated through simulations and experiments, effectively minimizing parasitic movements by verifying the robot's motion.
  • KEYWORDS: Origami, Parallel manipulator, Soft robot, Additive manufacturing
  • KEYWORDS: 오리가미, 병렬형 매니퓰레이터, 소프트 로봇, 적층 공정
병렬형 로봇은 직렬형 로봇에 비해 정밀하고, 하중이 각 모터에 분산되어 상대적으로 적은 전력으로 동작할 수 있다는 장점이 있어 짐벌, 정밀 픽앤플레이스 작업 등 다양한 애플리케이션에 활용될 수 있다[1,2]. 그러나 엔드이펙터 부분에서 1개의 Z방향 직선(Translation) 동작, 2개의 X, Y 방향 회전(Rotation) 동작(1T2R)을 가지며, 세 개의 다리가 동일하게 대칭을 이루는 병렬형 로봇[3]의 경우, Fig. 1과 같이 엔드이펙터의 중심에서 해석이 어려운 기생적인 움직임이 발생하여 목표 각도 및 좌표로 제어하기에 어려움이 있었다[4,5]. 기생적인 움직임은 1T2R 동작을 생성하는 과정에서 기구학적 구속조건의 불완전성에 의해 1T2R의 주요 운동방향이 아닌 다른 방향(Fig. 1의 붉은색 선으로 표시된 X, Y 방향 직진 운동은 회전 운동 시 발생하는 기생 운동 예시)으로 작은 변위가 발생하는 현상으로, 원하는 위치와 방향으로 엔드이펙터를 정밀하게 제어하는 것을 방해한다. 이는 기구학적 구속조건에 의해 발생하는 것으로 제어로 해결할 수 없는 문제이다.
Fig. 1

Parasitic motion of 1T2R parallel robot

KSPE_2024_v41n10_783_f001.jpg
또한 이러한 기생적인 움직임은 로봇 제어만 아니라 애플리케이션 적용에도 어려움을 발생시킨다. 예를 들어, Ori-Pixel은 여러 대의 병렬형 로봇을 픽셀처럼 나열하여 각 로봇들이 X축, Y축으로 기울어지며 입체적인 이미지를 구현하는데[6], 병렬형 로봇의 기생적인 움직임 때문에 로봇들이 부딪히지 않게 일정 간격을 두고 배치해야 한다는 단점이 발생한다. 이러한 기생동작이 없는 경우, 간격을 최소화할 수 있어, 몰입도를 높일 수 있을 것으로 기대된다. 또한 안테나, 평판 진동 제어, 수평 제어 등 정밀 동작이 필요한 곳에 적용할 수 있을 것으로 기대된다.
본 연구에서는 기생동작을 제거하기 위해 세 개의 다리 중 두 개는 서로 대칭을 이루는 RRS(레볼루트-레볼루트-볼) 조인트, 한 개는 RRRU(레볼루트-레볼루트-레볼루트-유니버셜) 조인트로 구성된 다리를 가진 병렬형 로봇을 설계하였다. 병렬형 로봇은 각 조인트 사이의 비율만 일정하게 유지하면 기능을 유지하면서 크기를 바꾸는 것이 자유롭다는 장점을 가지지만, 강체링크와 조인트를 사용할 경우 조인트 자체의 최소 크기가 커서 로봇 크기 변경에 제약이 생긴다. 그 뿐 아니라 강체 볼 조인트의 구조상, 최대 움직일 수 있는 각도는 30-40° 내외이기 때문에 로봇의 작업반경을 최대로 이용할 수 없게 된다.
오리가미는 종이접기의 원리를 이용하여 평면을 입체 구조물로 변형할 수 있는 기술이다. 병렬형 로봇에 오리가미를 사용하면 2차원의 기판을 3차원 구조로 변형할 수 있고[7,8], 단순하게 패턴을 변경하는 것만으로 레볼루트, 볼 조인트 등 다른 자유도를 가지는 조인트를 구현할 수 있으며, 강체 조인트에 비해 넓은 범위의 각도를 가질 수 있다는 장점이 있다. 또한 스틸과 같은 강체 링크로 로봇을 제작하는 것보다 최소 크기의 제약이 적고 무게가 가벼워 소형화, 경량화하여 소형 로봇 등에 탑재하는 것이 가능하다.
그러나 오리가미의 구조적인 특성상 강성이 낮아 내구성이 약하고 형태가 변형될 수 있다는 단점이 있다. 이를 극복하기 위해 오리가미 구조 내부에 강성이 높은 구조물을 추가하는 등의 연구들[9,10]이 진행되어 왔지만, 이러한 방법은 오리가미의 유연한 변화를 방해하고 장점을 감소시키는 한계를 가진다.
본 연구에서는 1T2R 병렬형 로봇을 소형화하면서도 충분한 작업반경을 확보하기 위해 오리가미 기반 설계를 진행하였으며, 오리가미 구조로 인한 약한 강성을 보완하기 위해 다양한 재료를 적층하는 방법을 제안하였다. 또한, 볼 조인트와 레볼루트 조인트가 필요한 각도를 충분히 낼 수 있도록 구간별로 재료와 두께를 선정하여 조인트 별로 다른 강성을 갖도록 설계하였다.
또한 설계된 로봇의 움직임을 검증하기 위해 로봇의 엔드이펙터의 오리엔테이션이 기생동작 없이 제어되는지 검증하였다. 시뮬레이션을 통해 확인된 제어 모델을 실제 로봇에 적용하여 비교하였고, 기생동작이 발생하지 않는 것을 확인하기 위해 X 축, Y 축 방향으로 로봇을 회전시키며 원점의 위치변화가 거의 없음을 검증하였다.
본 논문의 구성은 다음과 같다. 2장에서 병렬형 로봇의 기구학적 구조를 설명하고 구조에 적합한 제작 방법과 오리가미 다리의 패턴 조건을 산출한다. 3장에서는 병렬형 로봇의 구동 테스트를 위한 제어시스템과 시뮬레이션 및 실제 결과를 비교 분석한다. 4장에서는 제안한 메커니즘의 원점 위치 변화를 검증하기 위한 실험을 수행하여 성능을 확인하였다.
2.1 디자인과 구성 요소
오리가미 1T2R 병렬형 로봇은 이전 연구에서 제안한 메커니즘을 따른다[11]. 3개의 모터가 통합된 베이스 플레이트, 엔드 이펙터와 연결된 세 개의 오리가미 다리, 중심부의 유니버셜 조인트 역할을 하는 베어링 모듈, 엔드 이펙터와 위에 결합되는 아크릴 플레이트로 구성된다. 각 오리가미 다리의 아랫부분은 모터와 연결되어 레볼루트 조인트 기능을 하고, 윗부분은 엔드 이펙터와 연결되는 Fig. 2와 같은 구조를 가진다.
Fig. 2

Structure of origami 1T2R parallel robot

KSPE_2024_v41n10_783_f002.jpg
마주보는 두 개의 오리가미 다리(첫 번째, 세 번째 다리)는 엔드 이펙터의 중심을 원점이라고 할 때, 원점 기준 X축에 평행하게 같은 축에 정렬되어야 하며, 레볼루트-볼 조인트로 구성된다. 두 개의 다리와 수직인 오리가미 다리(두 번째 다리)는 원점 기준 Y축과 평행해야 하고, 레볼루트-레볼루트 조인트로 구성되어 있다. 두 번째 다리는 엔드 이펙터와 바로 고정되는 것이 아니라, 두개의 베어링을 결합한 모듈을 거쳐 엔드 이펙터에 연결된다.
결론적으로 로봇의 첫 번째, 세 번째 다리가 이루는 일직선에 수직으로 두 번째 다리가 위치해야 하며, 이 세 다리가 만나는 점에서 기생동작이 발생하지 않게 된다. 첫 번째와 세 번째 다리가 같은 X-Z 평면에서 운동을 하고 두 번째 다리가 수직으로 연결되어 Y-Z 평면에서 운동을 하게 되면, 두 평면이 만나는 엔드이펙터의 원점이 고정이 되고, Fig. 1과 같은 기생동작이 없는 1T2R 동작을 할 수 있다.
모터는 다이나믹셀(XM430-W350-R)[12]이 사용되었으며, 엔드이펙터 및 오리가미 연결부는 두랄루민을 사용하여 가공하였다. 플레이트에는 아크릴이 사용되었다.
2.2 제작 방법 및 설계
오리가미 1T2R 병렬형 로봇의 제작방법은 Fig. 3에서 확인할 수 있다. 세 개의 다리 중 첫 번째, 세 번째 다리의 패턴과 두 번째 다리의 패턴이 다르게 설계되었다. 첫 번째, 세 번째 다리는 윗부분에 볼 조인트의 역할을 할 수 있는 패턴, 아랫부분에 레볼루트 조인트의 역할을 하는 패턴이 들어가게 된다. 볼 조인트는 회전 중심을 기준으로 3개의 직선이 교차하는 패턴으로 구현할 수 있다[13]. 레볼루트 조인트는 회전축 위치에 1개의 직선으로 패턴을 생성하여 구현할 수 있다. 두 번째 다리는 윗부분, 아랫부분 동일하게 레볼루트 조인트와 동일한 기능을 하는 패턴으로 설계되었다. 각 다리는 카본을 베이스로 카본 필름[14] 두 장사이에 폭 30 mm 캡톤 테이프[15]와 PET 필름[16]을 내장하여 결합하였다. 이때, 레볼루트 조인트와 같은 두께로 볼 조인트 부분을 제작하면 강성이 너무 높아 제어가 어렵고 회전 각도가 충분하게 발생하지 않았다. 따라서, 구간을 나누어 첫 번째, 세 번째 다리는 볼 조인트 부분을 포함한 윗부분에 PET 필름을 사용하지 않고 테이프만 내장하여 얇게 제작해 상대적으로 유연한 움직임이 발생하도록 하였다.
Fig. 3

Fabrication method of origami leg

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두 번째 다리와 결합되는 베어링 모듈의 구조는 Fig. 4에 나타나있다. 베어링 모듈은 유니버셜 조인트와 같은 기능을 하면서 상용 유니버셜 조인트에 비해 소형화되었다. 또한 2축을 중심으로 한 회전 동작 이외에, 유격에 의한 회전 동작 발생을 최소화하도록 설계하였다. 베어링 모듈은 Y축과 Z축을 기준으로 회전하게 되며 모듈 윗부분에 연결된 베어링이 박스를 회전시키고, 박스 내부에 삽입된 베어링이 두번째 다리와 결합된 축을 회전시킨다.
Fig. 4

Mechanism of end-effector

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2.3 설계 사양
오리가미 다리 패턴의 간격과 재질의 두께는 로봇의 작업공간을 고려하여 선정되었다. 카본 필름에서 레이저 커팅되는 부분의 폭에 따라서 조인트의 이동 반경 및 강도가 변하게 된다.
이때, 최소 간극 이상이 되어야 조인트의 역할을 할 수 있게 되므로 이를 고려하여 패턴 커팅 간격을 선정하였다. 오리가미 다리의 레볼루트 조인트 부분이 완전히 접힐 수 있도록 테이프의 연신율을 고려하였다. 본 연구에서 사용한 캡톤 테이프는 최대 연신율이 60%로, 실제 적용을 고려해 50%로 가정하여 최초 간격에 비해 50%까지 늘어날 수 있다고 상정하였다. 이 경우, 필요한 패턴 사이의 최소 틈은 1.1 mm로, 최대 1.65 mm까지 틈이 늘어날 수 있게 된다. 이 값보다 크게 패턴 간격을 가지게 될 경우, 조인트의 파손 확률이 높아지고 테이프의 탄성 때문에 정확한 조인트 운동이 발생할 확률이 감소하므로 최솟값을 간격으로 설정하였다. 조인트 역할을 하는 패턴을 기준으로, 세 개의 오리가미 다리들의 내부 조인트 중심 사이의 거리는 43 mm, 윗부분 조인트 중심부터 로봇 엔드이펙터의 중심까지의 거리는 32 mm로 모두 동일하게 설계되었다.
3.1 제어 시스템
오리가미 1T2R 병렬형 로봇 모터 3개는 직렬로 연결되어 한쪽은 U2D2 통신 모듈[17], 한쪽은 배터리에 연결되어 제어된다. 제안한 오리가미 1T2R 병렬형 로봇의 성능 평가를 위해 목표각도로 플레이트를 움직일 수 있는지 검증하고자 하였고, 수동조인트의 각도를 예측하기 위한 정기구학과, 모터에 전달해야 하는 각도를 구하기 위해 역기구학을 사용해 목표 각도에 해당하는 움직임을 로봇에 전달하여 제어하였다.
3.2 각도 시뮬레이션 및 검증 실험
목표 각도를 로봇에게 전달하여 로봇이 해당 각도로 플레이트를 움직일 수 있는지 주어진 각도를 추종하는 시뮬레이션을 진행하고, 이를 바탕으로 제작한 로봇에 검증하였다. 제안한 병렬형 로봇의 전체 구조와 각 링크들을 연결하는 조인트의 종류는 Fig. 5에 나타나 있다. 아랫부분의 고정된 모터에 연결된 링크부터 차례대로 첫 번째(세 번째) 다리의 링크들은 l11, l21 (l13, l23)라고 지정하고, 두 번째 다리의 링크들은 l12, l22, l32로 지정하였다.
Fig. 5

Mechanism of origami 1T2R parallel robot

KSPE_2024_v41n10_783_f005.jpg
Fig. 6은 병렬형 로봇 메커니즘을 측면 방향에서 나타낸 그림이다. MATLAB을 이용하여 로봇의 엔드이펙터가 x축 회전을 기준으로 ±30° 각도를 취하도록 시뮬레이션하였다. Fig. 6(a)에서, 엔드 이펙터가 30도 기울어질 경우 레볼루트 조인트로 연결되어 있는 l22와 l32 링크가 이루는 각도 θ가 일직선을 이루는 순간을 지나게 되면서 기구적 특이점이 발생하게 되고, 두 링크가 이루는 각도가 180°를 넘어가게 되면 초기 자세로 돌아올 수 없게 된다. 시뮬레이션을 통해 엔드이펙터는 + 방향으로 회전할 경우 최대 각도가 30° 미만이라는 것을 확인할 수 있으며, - 방향인 Fig. 6(b)의 경우는 30°까지 플레이트가 기울어져도 특이점이 발생하지 않고 따라가는 것을 확인할 수 있다.
Fig. 6

MATLAB x-axis rotation simulation of origami 1T2R parallel robot

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Figs. 7은 6에서 진행한 시뮬레이션을 바탕으로 제작한 오리가미 1T2R병렬형 로봇에 적용하여 각도를 확인한 결과이다. Fig. 7(a)에서 특이점이 발생하지 않고 최대로 움직일 수 있는 엔드이펙터의 각도는 20°로, 20°를 넘어가면 l32와 l22 링크가 일직선을 이루는 특이점 구간을 지나게 된다. Fig. 7(b)의 경우 특이점이 발생하지 않고 시뮬레이션과 거의 동일하게 최대 29°까지 엔드이펙터의 각도가 변하는 것을 확인할 수 있다.
Fig. 7

Validation of x-axis rotation simulation

KSPE_2024_v41n10_783_f007.jpg
로봇 회전 시 엔드이펙터의 움직임이 없는 것을 확인하기 위하여, 격자 선들을 기준으로 엔드이펙터의 이동을 분석하였다. Figs. 8과 9는 각각 Y 축, X 축을 기준으로 회전시키며 원점의 위치를 확인한 결과이다. 로봇의 플레이트가 X 축에 평행한 상태에서 Y축을 기준으로 회전할 때, 붉은색 원으로 표시한 원점부분의 이동이 거의 없는 것을 확인할 수 있다. 마찬가지로, X 축을 기준으로 회전할 때도 원점 부분의 이동이 거의 발생하지 않음을 보였다.
Fig. 8

Y-axis movement of origami 1T2R parallel robot

KSPE_2024_v41n10_783_f008.jpg
Fig. 9

X-axis movement of origami 1T2R parallel robot

KSPE_2024_v41n10_783_f009.jpg
그러나 X 축 회전의 경우 Y 축 회전에 비해 변화가 미세하게 발생하였는데, 이는 로봇의 레볼루트 조인트가 움직이는 과정에서 테이프가 인장 되어 로봇의 축 정렬이 변하였기 때문이다. Y 축에 비해 X 축을 기준으로 이동하는 경우, 볼 조인트보다 레볼루트 조인트의 테이프 변형이 더 크기 때문에 엔드이펙터 원점의 움직임도 상대적으로 크게 발생하였다. 이는 향후에 내부 필름 재료를 변경하는 등의 방법을 통해 보완이 가능하다.
Fig. 10은 병렬형 로봇의 Z방향 직선운동(Translation)을 실험한 결과이다. 세 개의 모터를 동시에 작동할 경우 로봇의 엔드 이펙터가 Z축과 평행하게 위쪽과 아래쪽 방향으로 이동하는 것을 확인할 수 있다.
Fig. 10

Z-axis movement of origami 1T2R parallel robot

KSPE_2024_v41n10_783_f010.jpg
본 논문에서는 오리가미를 이용해 기생동작이 없는 1T2R 병렬형 로봇을 개발하였다. 제안된 오리가미 병렬형 로봇은 엔드이펙터의 기생적인 움직임을 최소화하면서도 필요 작업 영역을 확보하였다. 오리가미 패턴을 넣어 볼 조인트과 레볼루트 조인트 역할을 할 수 있는 로봇 다리를 설계했으며, 카본과 PI 테이프, PET를 적층하여 조인트의 움직임을 제한하지 않을 정도의 강성을 가질 수 있도록 제작하여 로봇의 제어와 안정성을 보장하면서 재료의 유연성을 유지하였다. 또한 시뮬레이션과 실험을 통해 제안한 로봇 메커니즘의 실제 작동을 검증하였으며, 로봇 엔드이펙터의 회전 시에도 원점의 위치 변화가 거의 없음을 확인하였다. 이러한 결과를 토대로 병렬형 로봇 위에 자세 제어가 필요한 장비를 탑재하는 등 다양한 분야로의 적용이 가능할 것으로 기대된다.
본 연구는 KIST 미래원천로봇·미디어연구개발사업의 지원을 받아 수행되었음(No. 2E33002).
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Hayeon Kim
KSPE_2024_v41n10_783_bf001.jpg
Received M.S. degree in the Department of Mechanical Engineering, Ulsan National Institue of Technology. Her research interest is robotics.
Hassen Nigatu
KSPE_2024_v41n10_783_bf002.jpg
Postdoctoral researcher in Robotics Institute, Zhejiang University, Yuyao, Zhejiang, China. His research interest is robotics.
Yun Ho Choi
KSPE_2024_v41n10_783_bf003.jpg
Senior Researcher in the Satellite Technology Research & Development Division at Korea Aerospace Research Institute. His research interests include nonlinear adaptive control, distributed control, safety-critical control, and their applications to robotic systems, multi-agent systems, and satellites.
Sang Yong Park
KSPE_2024_v41n10_783_bf004.jpg
Received the Ph.D. degree in mechanical engineering from Yonsei University, Seoul, South Korea. Currently in Halla University, School of Mechanical, Automotive, Robot Engineering. His research interest is robotics.
Doik Kim
KSPE_2024_v41n10_783_bf005.jpg
Principal Researcher in the Intelligent Robot Research Group at Korea Institute of Science and Technology. His research interest is robotics.

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Design and Control of Origami 1T2R Parallel Robot
J. Korean Soc. Precis. Eng.. 2024;41(10):783-788.   Published online October 1, 2024
DOI: https://doi.org/10.7736/JKSPE.024.015
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Design and Control of Origami 1T2R Parallel Robot
J. Korean Soc. Precis. Eng.. 2024;41(10):783-788.   Published online October 1, 2024
DOI: https://doi.org/10.7736/JKSPE.024.015
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Design and Control of Origami 1T2R Parallel Robot
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Fig. 1 Parasitic motion of 1T2R parallel robot
Fig. 2 Structure of origami 1T2R parallel robot
Fig. 3 Fabrication method of origami leg
Fig. 4 Mechanism of end-effector
Fig. 5 Mechanism of origami 1T2R parallel robot
Fig. 6 MATLAB x-axis rotation simulation of origami 1T2R parallel robot
Fig. 7 Validation of x-axis rotation simulation
Fig. 8 Y-axis movement of origami 1T2R parallel robot
Fig. 9 X-axis movement of origami 1T2R parallel robot
Fig. 10 Z-axis movement of origami 1T2R parallel robot

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Design and Control of Origami 1T2R Parallel Robot
JKSPE : Journal of the Korean Society for Precision Engineering

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