In the field of construction automation, significant research efforts continue to focus on replacing human labor; however, the varied and dynamic nature of construction sites still requires human intervention. The high task intensity in construction sites, particularly in lifting heavy materials, frequently results in musculoskeletal disorders among workers. To address this issue, this paper proposes a lifting device to replace manual material transportation through an opening between floors. The lift is designed with a gear-constrained double parallelogram mechanism to enable straight vertical movement. Moreover, a crank-rocker mechanism is incorporated to improve efficiency in repetitive tasks, reduce the required driving torque, and simplify control complexity. Additionally, this study introduces a passive gravity compensation mechanism that employs springs and cables, tailored to the lifting process, to enhance payload capacity and stabilize actuation. Through the integration of these mechanisms, the necessary motor capacity and control costs are significantly reduced. The effectiveness of the device is validated by actuation experiments with a fabricated prototype.
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Complete gravity balancing of the general four-bar linkage using linear springs Chin-Hsing Kuo Mechanism and Machine Theory.2025; 214: 106140. CrossRef
This study presents a method for inspecting ship block wall painting using a cooperative robot. The robot used in this study is a representative example of a human-collaborative robot system. The end-effector of the robot is equipped with a depth camera, designed in an eye-in style. The camera is used to measure and evaluate the thickness of the paint applied to the iron plate, simulating the conditions of ship block wall painting. To improve the accuracy of the recognition, an object detection algorithm with rapid computation and high accuracy was utilized. The algorithm was used to identify and outline the paint areas using the Canny edge algorithm. The proposed method successfully demonstrated the precision of paint area recognition by clearly identifying the center point and outline of the areas. Comparing the paint thickness measurements with laser distance measurements confirmed the effectiveness of the proposed method.
People with hemiplegia require ongoing rehabilitation exercises to regain function in their upper limbs. However, due to the increasing number of elderly and disabled people, the number of rehabilitation professionals is insufficient. As a solution to this problem, researchers have been exploring various upper limb rehabilitation exercise robots. Unfortunately, these robots are often large and heavy, making them cumbersome to wear and use. The proposed exoskeleton rehabilitation robot consists of two robotic modules: an elbow module (1 DOF) and a wrist module (1 DOF). In order to analyze the robot"s workspace, the kinematics were calculated using the D-H parameters. To generate the trajectories, five able-bodied individuals wore the robot and performed the hand-wash motion, resulting in a total of 10 trajectory data sets. The reference trajectories were then generated by polynomial regression based on the collected data. Lastly, a passive mode control was experimented with in the rehabilitation process, and the results demonstrated the promising effectiveness of the proposed robot.
Hybrid mobile robot is the system that will practically combine legged walking and skated driving in the same system. Therefore, this robot has own problems of inverse kinematics that are not considered in typical walking robots. In this paper, I fully categorized the inverse kinematics problems for hybrid mobile robot with general motion by walking and driving on an inclined plane, including switching end-effectors between foots and blades. I also solved the inverse kinematics for each case of problems. I here actively adopted the coordinate transformation derived from the inclined plane to cope with the random motion of foots and blades on the plane. I then presented several examples of the inverse kinematics problems with specific situations, and verified the validity of the analysis method from the results.
Industrial robot manipulators require high absolute position accuracy of the end effector to perform precise and complex tasks. However, manufacturing errors cause differences between nominal and actual parameters, and errors between the expected and actual positions of the end effector, resulting in undesired lower absolute position accuracy. Accordingly, to increase the absolute position accuracy of the end effector, kinematic calibration is required to correct the nominal parameters close to the actual parameters. However, in this study, redundancy of parameters may occur from the overlapping degrees of freedom of parameters in adjacent frames, which causes the problem of unnecessarily correcting many parameters in the optimization process. Thus, to solve this problem and use only the necessary parameters, this paper focuses on the linear relationship of redundant parameters and proposes a method of automatically discriminating and removing it through the Pearson Correlation Analysis. Additionally, through simulations on the two manipulator models, we verify the accuracy of redundancy of parameters determined by the proposed method, and demonstrate consistency and efficiency by comparing the results before and after redundancy removal.
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Development of an Agile Robotic Fixture for Door Trim Fixation Jaesoon Lee, Sang Hyun Park, Jong-Geol Kim, Minseok Kang, Murim Kim Journal of Korea Robotics Society.2025; 20(3): 422. CrossRef
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For the teleoperation of dual-arm robots with various tasks, the existence of a controller with a high degree of freedom is indispensable. Especially when precise work is required, additional information such as force feedback is very helpful for the operator. In transmitting such force information, a control device of exoskeleton-type with many points of contact with the human body can be one of the solutions. This paper proposes an optimal design method for the 7 degrees of freedom (DOF) exoskeleton systems. The proposed method optimizes the kinematic parameters by using kinematic performance indices related to the dexterity of the human and exoskeleton system. The manipulability ellipsoid is a representative index that can confirm the dexterity of the robot. In this study, we derived the objective function considering the human body model and then optimized it using a genetic algorithm. Unlike other HRI (Human-Robot Interaction) systems, exoskeleton robots share the end-effector as well as the base of the robot with the wearer. Therefore, it is hypothesized that the proposed performance index will be highly suitable for exoskeleton systems.
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With regard to 3D orientation estimation based on IMMU (Inertial Magnetic Measurement Unit) signals, the yaw estimation accuracy may be significantly degraded as a result of magnetic distortions. Consequently, several yaw estimation Kalman filters (KFs) possessing distortion compensation mechanisms have been proposed. However, majority of the conventional methods fail to effectively curb inaccuracies due to distortion when magnetic fields are extremely distorted. In this paper, we propose a new KF projecting a kinematic constraint to minimize yaw estimation errors induced by magnetic distortions. After the measurement update using magnetometer signals, the proposed method additionally corrects the yaw estimation through projection of a kinematic constraint on a conventional unconstrained KF. Experimental results show that the proposed KF outperformed the conventional KF by approximately 52-67%.
Water spraying work to prevent the dust from scattering during building dismantling operation has usually been done manually. Since it is very risky and often causes fatal accidents due to unexpected collapse, a few countries have adopted mechanical water spaying machines. However, these machines are still operated by human laborer, specifically in orienting the spraying direction, which induces low dust suppression efficiency. In this research, an automated fine dust tracking system was suggested to identify and track the dust generating position accurately. A GPS is installed on the secured body of the excavator which contains a crusher as an end-effector for building dismantlement. Assuming the position of the crusher is the dust generating spot, a forward kinematics analysis is performed to identify the crusher position from the body origin on which the GPS sensor is placed. With another GPS on the water-spraying robot, its relative position to the dust generating spot and its heading angle for tracking can be calculated consequently. Tracking experiments were conducted with a miniature excavator and a reduced size water spraying robot. The results showed a sufficient tracking performance enough to be applied to the water spaying machines.
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Autonomous Fine Dust Source Tracking System of the Water Spray Robot for High-rise Building Demolition Hyeongyeong Jeong, Hyunbin Park, Jaemin Shin, Hyeonjae Jeong, Baeksuk Chu Journal of the Korean Society for Precision Engineering.2023; 40(9): 695. CrossRef
Motion Trajectory Planning and Design of Material Spraying Service Robot Gang Wang, Hongyuan Wen, Jun Feng, Jun Zhou, Haichang Zhang Advances in Materials Science and Engineering.2022; 2022: 1. CrossRef
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Optimal Design and Verification of a Water Spraying Robot for Dust Suppression Seolha Kim, Baeksuk Chu Journal of the Korean Society for Precision Engineering.2020; 37(10): 729. CrossRef
This paper proposes a walking position tracking method using inertial measurement unit (IMU) based on kinematic model of human body and walking cycle analysis. A kinematic model of lower body consisting of 9 coordinate frames and 7 links is used to estimate walking trajectory of the body based on rotation angles of the lower body measured by IMU. In this method, the position of left or right end frame of the lower body which is in contact with the ground is first identified and set as the reference position. The position of the base frame attached on the center of pelvis is then computed using the kinematic model and the reference position. One can switch the reference position with the position of the other end frame at the moment of heel strike. The proposed position tracking method was experimentally validated. Experimental result showed that position tracking errors were within 1.4% of walking distance for straight walking and 2.2% for circular walking.
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Evaluation of Ergonomic Performance of Medical Smart Insoles Jae-Hoon Yi, Jin-Wook Lee, Dong-Kwon Seo Physical Therapy Rehabilitation Science.2022; 11(2): 215. CrossRef
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Kinematic Constraint-Projected Kalman Filter to Minimize Yaw Estimation Errors Induced by Magnetic Distortions Tae Hyeong Jeon, Jung Keun Lee Journal of the Korean Society for Precision Engineering.2019; 36(7): 659. CrossRef
UVW Stage is widely used in manufacturing processes of PCB, LCD, OLED, and semiconductor industries. The precision of UVW Stage is closely associated with the quality of products. Two approaches for kinematics of UVW Stage are proposed for comparative analysis. Program of proposed kinematics algorithm is developed for motion control and applied to UVW Stage driving. The position of the stage for each algorithm is sequentially measured by laser interferometer. Both virtual stage and real stage are used for accuracy analysis. The performance of each algorithm is evaluated based on this accuracy analysis.
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A correction algorithm for determining the motor pivot point coordinates of UVW platforms based on a kinematic motion model Yunchao Zhi, Qunfeng Liu, Mingming Zhang, Jiarui Zhang Computational and Applied Mathematics.2025;[Epub] CrossRef
Various types of 5-axis machine tools have been developed. In the case of a machine tool composed from linear motion, the kinematic equation can be obtained easily and intuitively. However, machine tools with more than four axes, including rotating axes, have generally performed kinematic and dynamic performance analyses using mathematical methods. In this paper, the kinematic equations of various types of machine tools are obtained, based on the Homogeneous Transformation Matrix method. The loop stiffness was then calculated as a mathematical model. A mathematical model of loop stiffness was verified by using a method to calculate the loop stiffness of a commercial program. The results of the mathematical model showed less than a 1% error with the commercial program, and this could show the validity of the mathematical model. Then, this model was applied to two types of machine tools. The minimum loop stiffness of both models is compared.
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