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오늘 본 자료
김영운(Youngoon Kim),황순웅(Soonwoong Hwang),김현국(Hyeonguk Kim),신규식(Kyoosik Shin),한창수(Changsoo Han) 대한기계학회 2012 대한기계학회 춘추학술대회 Vol.2012 No.11
Recently many researchers have been studying new methods to improve the energy efficiencies of existing products for solving energy problems. In the field of robotics, the efficiencies of industrial robots are to be increased since many industrial robots are being used in the manufacturing field. This study proposes a design methodology of industrial robot for increasing energy efficiency. This methodology are composed of two methods. One is deciding optimal link mass based on joint torque optimization and the other is designing robust link using topology optimization to overcome reaction forces when it perform the specified task.
빌트인형 BMR 시스템의 이동 중 충격완화를 위한 모션제어
이승훈(Seunghoon Lee),강민성(Min-Sung Kang),강성필(Sungpil Kang),황순웅(Soonwoong Hwang),김영수(YoungSoo Kim),문성민(Sung-Min Moon),홍대희(Daehie Hong),한창수(Chang-Soo Han) Korean Society for Precision Engineering 2013 한국정밀공학회지 Vol.30 No.4
Maintenance works for current high-rise buildings significantly depend on human labor, unlike other construction processes that are gradually being automated. Herein, this paper proposes robotic building maintenance system using motion control, in specific, reducing a system jerk which is directly subjected to improve the process performance and economic feasibility. The sensor for detecting straight and curvature section of the building facade, moreover rail-joint segment can be detected and be utilized for reducing jerk of the system. Analysis of the proposed system error caused by excessive vibration, e.g. jerk motion is introduced. To enhance the stability and safety of the system, herein, the strategy is proposed for enhancing the performance of the system based on anti-jerk motion control algorithm which comes out increasing the stability and sustainability of the integrated system, as well.