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유승남,이종광,박병석,김기호 대한기계학회 2017 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.31 No.3
Tendon-driven mechanisms are adopted in remote handling manipulators to reduce the weight of the distal parts of the manipulator while maintaining the handling performance. This study considered several approaches to the design of a gripper system for telemanipulators. According to the requirements of the specified tendon-driven mechanism, the connecting position of the spring system on the gripper mechanism was obtained, and kinematic influence coefficient analysis was performed to select the proper spring stiffness. The results showed that the tension force generated by the selected spring module is relatively constant in the gripper’s motion range; the spring module is advantageous for the semi-automatic gripper motion of servo-based tendon-driven manipulators performed in nonaccessible experimental facilities which handles many types of sensitive measuring devices with hazardous materials. The motion performance of the proposed gripper module was comparatively verified with a commercialized gripper system which has similar specifications. Additionally, an eye-in-hand camera was also designed to obtain an active-view through a gripper for efficient teleoperation. This gripper system uses a modular-type camera head that can be changed remotely and a proper camera angle to achieve an intuitive view of the remote site. The designed camera system was tested in a large-scale confined cell facility remotely and verified the practical usability for remote handling manipulators.
Design considerations for teleoperation systems operating in gas-tight argon cells
유승남,이종광,박병석,조일제,이효직 한국원자력학회 2017 Nuclear Engineering and Technology Vol.49 No.8
In the nuclear industry, mechanical engineers spend a significant portion of their time designingequipment such as manipulators, bogies, mechanical grippers, and so on. Some customized designs canbe considered as standard mechanical equipment in this area, although it is not unusual to find that anexisting design cannot simply be copied from one project to another. Varied performance requirementscan dictate that redesign, often quite extensive redesign, is required. However, if something similar hasbeen done before, engineers could use that as a starting point for the new project. In this regard, thisstudy presents several guidelines inspired by previous design knowledge for similar development cases. Moreover, this study presents more detailed suggestions such as design guidelines for an argon-basedhot cell atmosphere and design experience for a large-scale practical hot cell facility. Design considerationsand case studies dealt with in this study are dedicated to teleoperation manipulators that are usedat a large-scale argon cell facility for pyroprocess integrated inactive demonstration (PRIDE), at the KoreaAtomic Energy Research Institute. In particular, for case studies to support the suggested recommendations,a fabricated telemanipulator system for PRIDE is introduced, and several kinds of experimentalresults associated with it are presented.
파이로공정의 설비 스케일에 따른 전산모사기법 활용방안 연구
유승남,이효직,조일제,이종광 한국경영과학회 2016 한국경영과학회 학술대회논문집 Vol.2016 No.4
본 논문에서는 한국원자력연구원에서 연구를 수행하고 있는 사용후핵연료 건식처리 공법에 활용되고 있는 원격취급 기술의 측면에서 공정 규모별 설비 스케일을 비교하고, 각 단계별 원격취급 작업과 관련한 시뮬레이션 요구항목을 도출하였다. 특히, 공학규모 설비인 ‘PRIDE(PyRoprocess Integrated inactive DEmonstration facility)’에서 활용된 시뮬레이터인 디지털 목업(Mock-up)과 공정장치 시제품을 실제로 운전 평가할 수 있는 물리적 목업의 활용사례를 제시함으로서 원격취급형 공정장치의 최종 설치 및 운전에 선행하여 이루어지는 공정장치 성능의 사전평가 프로세스 사례를 함께 제시하였다.