Jin-Wook Kim

Publications

2 An Iterative Algorithm for Inverse Kinematics of 5-DOF Manipulator with Offset Wrist

Authors: Juyi Park, Jung-Min Kim, Hee-Hwan Park, Jin-Wook Kim, Gye-Hyung Kang, Soo-Ho Kim

Abstract:

This paper presents an iterative algorithm to find a inverse kinematic solution of 5-DOF robot. The algorithm is to minimize the iteration number. Since the 5-DOF robot cannot give full orientation of tool. Only z-direction of tool is satisfied while rotation of tool is determined by kinematic constraint. This work therefore described how to specify the tool direction and let the tool rotation free. The simulation results show that this algorithm effectively worked. Using the proposed iteration algorithm, error due to inverse kinematics converged to zero rapidly in 5 iterations. This algorithm was applied in real welding robot and verified through various practical works.

Keywords: Inverse Kinematics, Iterative algorithm, Wrist offset

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1 Development of a Portable Welding Robot with EtherCAT Interface

Authors: Juyi Park, Sang-Bum Lee, Jin-Wook Kim, Ji-Yoon Kim, Jung-Min Kim, Hee-Hwan Park, Jae-Won Seo, Gye-Hyung Kang, Soo-Ho Kim

Abstract:

This paper presents a portable robot that is to use for welding process in shipbuilding yard. It has six degree of freedom and 3kg payload capability. Its weight is 21.5kg so that human workers can carry it to the work place. Its body mainly made of magnesium alloy and aluminum alloy for few parts that require high strength. Since the distance between robot and controller should be 50m at most, the robot controller controls the robot through EtherCAT. RTX and KPA are used for real time EtherCAT control on Windows XP. The performance of the developed robot was satisfactory, in welding of U type cell in shipbuilding yard.

Keywords: Shipbuilding, etherCAT, Portable welding robot

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Abstracts

2 Study on Monitoring Techniques Developed for a City Railway Construction

Authors: Myoung-Jin Lee, Sung-Jin Lee, Young-Kon Park, Jin-Wook Kim, Bo-Kyoung Kim, Song-Hun Chong, Sun-Il Kim

Abstract:

Currently, sinkholes may occur due to natural or unknown causes. When the sinkhole is an instantaneous phenomenon, most accidents occur because of significant damage. Thus, methods of monitoring are being actively researched, such that the impact of the accident can be mitigated. A sinkhole can severely affect and wreak havoc in community-based facilities such as a city railway construction. Therefore, the development of a laser / scanning system and an image-based tunnel is one method of pre-monitoring that it stops the accidents. The laser scanning is being used but this has shortcomings as it involves the development of expensive equipment. A laser / videobased scanning tunnel is being developed at Korea Railroad Research Institute. This is designed to automatically operate the railway. The purpose of the scanning is to obtain an image of the city such as of railway structures (stations, tunnel). At the railway structures, it has developed 3D laser scanning that can find a micro-crack can not be distinguished by the eye. An additional aim is to develop technology to monitor the status of the railway structure without the need for expensive post-processing of 3D laser scanning equipment, by developing corresponding software.

Keywords: Tunnel, sinkhole, city railway construction

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1 Effect of Corrosion on the Shear Buckling Strength

Authors: Myoung-Jin Lee, Sung-Jin Lee, Young-Kon Park, Jin-Wook Kim, Bo-Kyoung Kim, Song-Hun Chong, Sun-Ii Kim

Abstract:

The ability to resist the shear strength arises mainly from the web panel of steel girders and as such, the shear buckling strength of these girders has been extensively investigated. For example, Blaser’s reported that when buckling occurs, the tension field has an effect after the buckling strength of the steel is reached. The findings of these studies have been applied by AASHTO, AISC, and to the European Code that provides guidelines for designs aimed at preventing shear buckling. Steel girders are susceptible to corrosion resulting from exposure to natural elements such as rainfall, humidity, and temperature. This corrosion leads to a reduction in the size of the web panel section, thereby resulting in a decrease in the shear strength. The decrease in the panel section has a significant effect on the maintenance section of the bridge. However, in most conventional designs, the influence of corrosion is overlooked during the calculation of the shear buckling strength and hence over-design is common. Therefore, in this study, a steel girder with an A/D of 1:1, as well as a 6-mm-, 16-mm-, and 12-mm-thick web panel, flange, and intermediate reinforcing material, respectively, were used. The total length was set to that (3200 mm) of the default model. The effect of corrosion shear buckling was investigated by determining the volume amount of corrosion, shape of the erosion patterns, and the angular change in the tensile field of the shear buckling strength. This study provides the basic data that will enable designs that incorporate values closer (than those used in most conventional designs) to the actual shear buckling strength.

Keywords: Corrosion, Shear Strength, shear buckling strength, steel girder

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