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흡착 캐터필러 시스템을 이용한 수직평면 등반로봇 기구부의 개발
김황(Hwang Kim),김동목(Dongmok Kim),양호준(Hojoon Yang),이규희(Kyouhee Lee),서근찬(Kunchan Seo),장도영(Doyoung Chang),김종원(Jongwon Kim) 한국정밀공학회 2006 한국정밀공학회 학술발표대회 논문집 Vol.2006 No.5월
This paper describes a new concept of the robot that can climb on the vertical plane. The engineering design problem of the main structure is presented and the experimental results regarding a new mechanism of climbing on the vertical wall are discussed. The locomotive motion of the robot is realized by using a series chain of two caterpillar wheels on which 24-suction pads are installed. While each caterpillar wheel rotates on the vertical plane surface, the vacuum pads are activated in sequence based on the sequential opening by specially designed mechanical valves. The detail design feature of the valve is also described in this paper. The overall size of the robot is around 460 ㎜ in width and length, respectively, and 200 ㎜ in height. Its mass is slightly over 14 ㎏. The main mechanical structure of the robot consists of driving motors, vacuum caterpillar system, steering part, vacuum pump and battery. The performance of the robot is verified on the vertical wall.
김광민(Kwangmin Kim),김민지(Minji Kim),김동목(Dongmok Kim),이동준(Dongjun Lee) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12
We propose a passivity-based control framework for the excavator with main control valve (MCV). We first derive mathematical model of a 4-way valve, then develop a passivity-based control rule using spool actuation forces as control inputs. The passivity-based control is done in two steps: 1) MCV passifying control and 2) spool actuation control. First, the flow rate of each valve in MCV is decomposed into active flow source and a passive dissipation, and valve passifying control is presented based on this structure. Second, we present a spool actuation input to control the spool position to the desired value. In addition, we compensate the self-weight in order to make the passivity of the excavator less conservative. Finally, we propose a passivity-based auto-stop function of excavator when it collides with an underground obstacle.