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길명수(Myeong-su Gil),이승열(Seung-Yeol Lee),유석종(Seok-jong Yoo),최종호(Jong-Ho Choe),심형준(Hyung-joon Sim),한창수(Chang-soo Han) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.6
This paper presents a study on the automation of steel frame building. The hooks used with tower crane are passive, and the linking and unlinking operations between hooks and steel objects are done manually. These operations are laborious as well as dangerous. In particular, the unlinking operations which must be accomplished by workers at the tip of steel columns on the top of building are very dangerous. This study describes invention of a mechanism and a control system for safety and user interface. The design of the mechanism and the control algorithm was evaluated in the construction site.
이승열(Lee Seung-Yeol),유병갑(Yoo Byung-Gab),길명수(Gil Myeong-Su),유보현(Yoo Bo-Hyun),한창수(Han Chang-Soo) 대한건축학회 2007 대한건축학회 학술발표대회 논문집 - 계획계/구조계 Vol.27 No.1
This paper describes an unmanned transport robot system called Multipurpose Field Robot (MFR) being developed to overcome worker shortage problem and to prevent accidents in construction sites (i.e., building construction, road construction, etc.). The unmanned transport robot system gets divided drive part make up of caterpillar that move as far as want materials, sensor part which recognize position of truck and working environment and control part which trajectory generation and trajectory following and obstacle avoidance algorithm are applied. Such robot is expected to be in high demand in the near future in countries where aging of construction workers is becoming a serious problem.
유보현(Bo-hyun Yoo),이승열(Seung-yeol Lee),길명수(Myeong-su Gil),이상헌(Sang-heon Lee),이계영(Kye-young Lee),한창수(Chang-soo Han) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5
Since construction materials have been towards larger and heavier, the rate of accident associated with installation works of heavy construction materials is increasing. Installation works of heavy construction materials lead to frequent accidents, increasing the WMSDs(Work-Related Musculo-Skeletal Disorders) in construction site. In case of installation work of heavy glass ceiling, the rate of accidents such as falling and collision is increasing as well. This paper describes a ergonomic design of working platform(deck) in a glass ceiling installation robot. As well as, a design of working process is considered to accomplish an efficient installation work. As a result of the design, an installation work of heavy glass ceiling by the robot will be expected safety assurance and retrenchment of the construction cost and period.
유석종(Seok-jong Yoo),이승열(Seung-yeol Lee),최종호(Jong-ho Choe),이용석(Yong-seok Lee),길명수(Myeong-su Gil),이상호(Sang-ho Lee),이상헌(Sang-heon Lee),한창수(Chang-soo Han) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.6
The objective of the study was to propose a multipurpose field robot in hazardous operation environments. This system combines a basic system composed of a multi-DOF manipulator and a mobile platform with an additional module for construction, national defense and emergency-rescue. According to an additional module type combined with a basic system, it can be used in a various fields. In this study, we describe a construction robot which helps a human operator handle easily heavy materials in case of using the cooperation system on construction site. This study introduces an additional module for construction and a robot control algorithm for a HRC(Human-Robot Cooperation). In addition, it proposes a novel construction method to install heavy materials with robot on the construction site.