http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
진상록(Sangrok Jin),배장호(JangHo Bae),박정애(Jeongae Bak),김홍민(Hongmin Kim),김종원(Jongwon Kim),서태원(TaeWon Seo) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
We developed an underwater robot with tilting thrusters and designed the selective switching controller for stable hovering motion. 6-DOF motion dynamics were divided into two 3-DOF subsystems according to tilting angle, and two PD controllers for each 3-DOF subsystems were designed. Selection logic switched between sub-controllers depending on the error of robot motion in real-time. The selection strategy has a major influence on the state trajectories under selective switching control. This paper compares with three selection strategies which have criterion of maximum value, average, and norm of errors. The characteristics of each strategy are analyzed from simulation results. This work can lay the base for optimal selection strategy.
서용신(Yong-Sin Seo),이재영(Jae-Young Lee),박종우(Jongwoo Park),박찬훈(Chanhun Park),한병길(Byung-Kil Han),박정애(Jeongae Bak),유고 로드리그(Hugo Rodrigue),송성혁(Sung-Hyuk Song) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.11
The suction gripper is popular gripper type in the industrial field due to its simple gripping mechanism. It has an advantage on the gripping flat-shaped object so it is mostly used to transfer the box or plastic bag. However, the general suction gripper has limitation on the gripping complex-shaped object, so it is difficult to extend the gripper to various field. Therefore, we develop the multi-purpose suction gripper to grip complex-shaped gripper by mimicking the structure of the octopus’s leg. Similar to the octopus’s leg, the developing soft suction gripper can adapt various shape of object then realize high gripping force. In this paper, we propose the design of soft suction gripper.