http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
A Study on the climbing strategy over vertical steps for the QuadTrack-III
Kyungmin Jeong,Hochul Shin,Yongchil Seo,Sung-uk Lee,Seungho Kim 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper introduces a mobile robot named QuadTrack-III developed for urban search and rescue. This robot has four modular tracks which can be driven and lifted independently. Thus the configuration of the robot can be varied for adapting to uneven terrain. Each modular track consists of two sprockets with an attachment chain and two BLDC motors are embedded in the track module. It also includes BLDC motor drivers for each joint. Because the modular track mechanism embodies all of the things required for driving, the weight of the main body is smaller than the tracks. From this feature, the mass center of the robot can be lowered and the distribution of reaction forces can be varied. This paper describes the mechanical structure, the control architecture and a climbing strategy over vertical step for the QuadTrack-III. It also shows some experimental results of the vertical step climbing strategy.
이동로봇을 이용한 원자력발전소 Sump 내 슬러지 제거
김창회(Kim Changhoi),신호철(Shin Hocheol),서용칠(Seo Yongchil),정경민(Jeong Kyungmin) 대한전기학회 2009 대한전기학회 학술대회 논문집 Vol.2009 No.7
원자력 발전소 운전과정에서 발생하는 각종 폐액은 저장/여과 과정을 거치게 된다. 이러한 폐액의 저장/여과 과정에서 탱크 내에 침적된 방사성 슬러지들은 농축 고화 처리가 요구되며 방사선량에 따라 작업자의 접근이 제한적이다. 본 논문에서는 탱크나 섬프(Sump)내의 방사성 슬러지를 제거하기 위하여 개발 중인 로봇의 기능과 이를 이용한 슬러지 제거 기초실험 결과를 제시한다.
이성욱(Sung-Uk Lee),서용칠(Yongchil Seo),정승호(Seungho Jung) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.10
The automation for constructing a building has been extensively studied. Various robots for construction were developed. However, the bolting process is still worked manually. To tighten bolts, human workers climb the vertical steel beam on the top of the high-rise steel structure in many construction fields. This works is extremely dangerous. Therefore, a new bolt tightening mobile manipulator is developed to automate bolting process in this paper. The bolt tightening mobile manipulator composes of four parts: a carrier, a vertical moving part, a bolting position control part and a bolting tool part. We assume that the developed mobile manipulator is attached to the boom which moves around the core of a building. The degree of freedom of the developed manipulator is five to access a bolting position of construction of steel. The carrier moves horizontally under the boom. The vertical moving parts is scissor type. The bolting position control part has 3 degree of freedom - one rotation and two linear motion.