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이재열 ( Jeayoul Lee ),전광우 ( Kwangwoo Jeon ),최재연 ( Jeayeon Choi ),정구봉 ( Goobong Chung ),서진호 ( Jinho Suh ),최일섭 ( Ilseob Choi ),신광복 ( Kwangbok Shin ) 한국복합재료학회 2015 Composites research Vol.28 No.3
본 논문은 착용형 근력지원 로봇의 경량화를 위하여 CFRP(Carbon Fiber Reinforced Plastic) 복합재료의 적용 설계와 유한요소해석을 이용한 안전성 평가 내용을 기술하였다. 금속재 프레임으로 제작된 착용형 근력지원 로봇에 대하여 탄소섬유 복합소재로 대체하였고, 적용 재료에 대하여 ASTM을 기준으로 인장, 압축 그리고 전단 시험을 통하여 해석적 평가를 위한 기계적 물성시험을 수행 하였다. 구조해석 결과를 이용하여 설계된 경량 착용형 근력지원 로봇의 메인 프레임 및 대퇴부 프레임은 경량 설계의 설계요구조건을 만족하였으며 제작된 로봇이 기존 금속재 프레임 대비 경량화 효과를 얻을 수 있음을 확인하였다. In this paper, we evaluate structural integrity of the wearable robot by using finite element analysis, which is made of CFRP(Carbon Fiber Reinforced Plastic) composite materials to be lightened. On the basis of the ASTM(American Standard Test Method), mechanical tests of the material are carried out in tensile, compressive and shear test for analytical evaluation. With the tested composite material, the main frame and two femoral frames of the robot is redesigned to satisfy the lightening design requirements. It is verified with the structural analysis that the redesigned frames are good for the part of the wearable robot.
신진(Jin Shin),이수영(Sooyeong Yi),홍영진(Youngjin Hong),서진호(Jinho Suh) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.8
In this paper, we proposed an omnidirectional ranging system that is able to obtain 360o all directional distances effectively based on structured light image. The omnidirectional ranging system consists of laser structured light source and a catadioptric omnidirectional camera with a curved mirror. The proposed integro-differential structured light image processing algorithm makes the ranging system robust against environmental illumination condition. The omnidirectional ranging system is useful for map-building and self-localization of a mobile robot.
미션 시나리오기반 장갑형 로봇시스템 유압매니퓰레이터 설계
정동탁(Dongtak Jeong),김철(Cheol Kim),김주현(Ju Hyun Kim),서진호(Jinho Suh),김무림(Maolin Jin) 유공압건설기계학회 2017 드라이브·컨트롤 Vol.14 No.4
In this study to develop disaster response robot in complex disaster site, we present the design of hydraulic manipulators for armored robot systems. To this end, we performed voice of customer researches with firefighters and rescue personnel. We created and analyzed the mission scenario of firefighters and rescue personnel in complex disaster situations, and derived the required functions of the robot to successfully perform missions. A heavy-duty, heat resistant, dexterous hydraulic robot manipulators is designed to realize the required functions. The designed robot has been verified through simulations and analysis in terms of the working area of the robot, actuating torques, and temperature analysis.