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정원지(W. J. Chung),송태진(T. J. Song),정동원(D. W. Jung),방덕제(D. J. Bang),윤영민(Y. M. Yoon),김기현(K. H. Kim) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
This research is that analyze multi-body system that have flexibility. We composed system consisted of crane, part of traveling and robot. And we analyzed the aspect of vibration when this system runs using ADAMS. Through this research we can analyze vibration and displacement of end-effect pill of the large size robot. And this research can become reference that is going to analyze resemblant dynamic system.
정원지(W. J. Chung),김기정(K. J. Kim),김성현(S. H. Kim),박명환(M. H. Park),신기수(K. S. Shin) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
This paper presents the development of a new climbing mechanism for inter-block welding in Shipbuilding. The climbing mechanism is that it is career type of robot that can pass over block interval for welding of interblock in shipbuilding. The point part of mechanism is that move ballscrew. The Ballscrew`s capacity account and dynamic analysis of leg part are achieved through this paper. Force and torque analysis were achieved by simulation. This can have strong point in side of cost-cutting and welding amount of work than existent method.
정원지(J. H. Kim),김정현(W. J. Chung),김효곤(H.G. Kim),김성현(S.H. Kim),이승호(S.H. Lee) 한국정밀공학회 2005 한국정밀공학회 학술발표대회 논문집 Vol.2005 No.10월
Most works of the large vertical ceiling structures have been performed by human manually. These works require much more operation costs, labors and times, etc. Beside most people avoid this works because of it’s characteristic such as danger, dirty and difficulty. So necessity of automation for these works has been rising. This automation needs a wall climbing mobile vehicle because of the movement of platform on large workspace. In this study, we aim at develop the wheel which can be used for vertical wall-climbing mobile robot using electromagnet wheel. The wheel proposed can be available for several working processes on structures which consist magnetic substance.