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다관절 해저 로봇 CR200의 다리 겸용 로봇 팔 설계
강한구(Hangoo Kang),심형원(Hyungwon Shim),전봉환(Bong-Huan Jun),이판묵(Pan-Mook Lee) 한국해양환경·에너지학회 2012 한국해양환경·에너지학회 학술대회논문집 Vol.2012 No.5
The KORDI has launched a new project to develop multi-legged subsea robot, named CR200, for precise proximity exploration and precise underwater work in the shallow sea under 200m depth. In Ms project, a six-legged underwater robot is proposed for the both of seabed walking and. underwater working in the high tide and high turbidity environment The proposed robot uses two front legs as manipulators. This paper deals with ike design of robot arm combined with leg for the six-legged subsea robot. First, The kinematics structure and shapes of robot arm combined with leg are established. Second, the specific design is performed such as calculation of torque for joints and selections of motor, reduction gears, sensors, and motor controller. Finally, medianical designs were -performed using 2D and 3D CAD design tools. All of the design process will be presented in this paper
해저 보행 로봇 CR200을 위한 매니퓰레이터 기능을 갖는 다리 개발
강한구(Hangoo Kang),심형원(Hyungwon Shim),전봉환(Bong-Huan Jun),이판묵(Pan-Mook Lee) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.8
This paper presents the development of a specialized underwater leg with a manipulator function(convertible-to-arm leg) for the seabed walking robot named CRABSTER200(CR200). The objective functions of the convertible-to-arm leg are to walk on the seabed and to work in underwater for precise seabed exploration and underwater tasks under coastal area with strong tidal current. In order to develop the leg, important design elements including the degree of freedom, dimensions, mass, motion range, joint structure/torque/angular-speed, pressure-resistance, watertight capability and cable protection are considered. The key elements of the convertible-to-arm leg are realized through concept/specific/mechanical design and implementation process with a suitable joint actuator/gear/controller selection procedure. In order to verify the performance of the manufactured convertible-to-arm leg, a 25bar pressure-resistant and watertight test using a high-pressure chamber and a joints operating test with posture control of the CR200 are performed. This paper describes the whole design, realization and verification process for implementation of the underwater convertible-to-arm leg.
다관절 해저 로봇 CR200의 다리 겸용 로봇 팔 설계
강한구(Hangoo Kang),심형원(Hyungwon Shim),전봉환(Bong-Huan Jun),이판묵(Pan-Mook Lee) 대한조선학회 2012 대한조선학회 학술대회자료집 Vol.2012 No.5
The KORDI has launched a new project to develop multi-legged subsea robot, named CR200, for precise proximity exploration and precise underwater work in the shallow sea under 200m depth. In this project, a six-legged underwater robot is proposed for the both of seabed walking and underwater working in the high tide and high turbidity environment. The proposed robot uses two front legs as manipulators. This paper deals with the design of robot arm combined with leg for the six-legged subsea robot. First, The kinematics structure and shapes of robot arm combined with leg are established. Second, the specific design is performed such as calculation of torque for joints and selections of motor, reduction gears, sensors, and motor controller. Finally, mechanical designs were performed using 2D and 3D CAD design tools. All of the design process will be presented in this paper
접촉력 추정 정확도 향상을 위한 보행로봇의 마찰 토크 추정
이종화(Jonghwa Lee),강한구(Hangoo Kang),이지홍(Jihong Lee),전봉환(Bong-Huan Jun) 한국해양공학회 2015 韓國海洋工學會誌 Vol.29 No.5
This paper introduces a method to estimate the contact-force of the leg of a walking robot and proposes a solution to a shortcoming of the previous study. This shortcoming was the deteriorating performance when estimating the contact-force whenever the rotation of each joint was reversed. It occurred because the friction-torque of each joint was not considered. In order to solve this problem, a friction-torque model for a robot leg was developed based on repetitive experimentation and used improve the contact-force estimation performance. We verified the performance of the proposed method experimentally.