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비정형화된 전장 환경에 활용 가능한 고효율-경량형 외골격 착용 로봇의 근력 보조 시스템 개발
박희창,Huichang Park 한국군사과학기술학회 2023 한국군사과학기술학회지 Vol.26 No.4
The wearable robot system is designed to assist human skeletal and muscular systems for enhancing user's abilities in various fields, including medical, industrial, and military. The military has an expanding need for wearable robots with the integration of surveillance/control systems and advanced equipment in unstructured battlefield environments. However, there is a lack of research on the design and mechanism of wearable robots, especially for power assist systems. This study proposes a lightweight wearable robot system that provides comfortable wear and muscle support effects in various movements for soldiers performing high-strength and endurance missions. The Power assist mechanism is described and verified, and the tasks that require power assist are analyzed. This study explain the system including its driving mechanism, control system, and mechanical design. Finally, the performance of the robot is verified through experiments and evaluations, demonstrating its effectiveness in muscle support.
박관형(Kwanhyung Park),조용준(Yongjun Cho),홍형길(Hyunggil Hong),장선호(Sunho Jang),강민수(Minsu Kang),김재효(Jaehyo Kim),박희창(HuiChang Park),윤해룡(Haeyong Yun) 한국기계가공학회 2022 한국기계가공학회지 Vol.21 No.12
With the decrease in the number of workers in the domestic agricultural population and the rapid aging of the population, the need for technology that minimizes the risk of disease and enables efficient work is emerging in agricultural sites. Robot technologies and devices for preventing and treating diseases of workers or patients are being developed in industrial and medical fields, but there is a limit to their application to agricultural work in which atypical work is mixed. In addition, considering that most of the agricultural population is elderly and female, it is essential to develop wearable suits that can experience muscle assistance effects with comfortable fit in various movements. In this paper, we developed a wearable suit system that considers wearability and weight as a muscle strength aid. And in order to evaluate the characteristics of the developed product, the performance is verified by measuring the degree of muscle fatigue through EMG tests.
밭 노지 작업을 위한 모듈형 농업 로봇 플랫폼 개선에 관한 연구
김동우(Dongwoo Kim),홍형길(Hyunggil Hong),조용준(Yongjun Cho),윤해룡(Haeyong Yun),오장석(Jangseok Oh),강민수(Minsu Gang),박희창(Huichang Park),서갑호(Kabho Seo) 한국기계가공학회 2021 한국기계가공학회지 Vol.20 No.10
Our study introduces an improved modular agricultural platform to provide convenience to agricultural workers. We upgrade the platform design in three parts, namely, by adding a 458 pattern tire, electricity control, and four-wheel steering function, to improve the platform performance. Results showed that the upgrades enhanced the platform performance and reduced its overall weight as compared with the existing platform. To demonstrate the performance of our improved platform, we conducted five types of experiments with respect to the climbing angle, variable width, attitude control, speed, and obstacle passing.
권준혁(Junhyuk Kwon),이명호(Myungho Lee),조형호(Hyungho Cho),홍형길(Hyunggil Hong),조용준(Yongjun Cho),윤해룡(Haeyong Yun),오장석(Jangseok Oh),박희창(Huichang Park),강민수(Minsu Gang) 한국기계가공학회 2021 한국기계가공학회지 Vol.20 No.12
In this study, we developed an automatic module changer for agricultural implements for using in unmanned agricultural robots. An automatic module changer is attached by lowering from the top to bottom of the implements and fixing the four fastener bars attached to the implements in combination. The lift function was implemented using seesaw-type structures to keep the engagement point constant when the automatic module changer climbs and descends, and the switching function of the automatic module changer was implemented using the link device in the cam structure. We developed an algorithm to check the presence of attachment and opening/closing of the workpiece using limit switches and verified the performance through combination assessment and weight lift test to assess whether the combination was within the error range.