건물 외벽 장애물 극복을 위한 3단 모듈형 승월로봇 = A Three-unit Modular Climbing Robot for Overcoming Obstacles on the Facade of Buildings

다국어 초록 (Multilingual Abstract)

This paper introduces a novel obstacle-climbing robot that moves on the facade of buildings and its climbing mechanism. A winch system set on the top of the building makes the vertical motion of the robot while it climbs obstacles that protrude from the wall surface. The obstacle-climbing robot suggested in this research is composed of a main platform and three modular climbing units. Various sensors installed on each climbing unit detect the obstacles, and the robot controller coordinates the three units and the winch to climb the obstacles using the obstacle-climbing mechanism. To evaluate the performance of the developed robot prototype, a test bed, which consists of an artificial wall and an obstacle, was manufactured. The obstacle size and the time required to climb the obstacle were selected as the performance indices, and extensive experiments were carried out. As a result, it was confirmed that the obstacle-climbing robot can climb various-sized obstacles with a reasonable speed while it moves on the wall surface.

목차 (Table of Contents)

• ABSTRACT
• 1. 서론
• 2. 장애물 승월 로봇 메커니즘 설계
• 3. 장애물 승월로봇 제어시스템
• 4. 장애물 승월 성능 평가 실험
• 5. 토론 및 결론
• REFERENCES

참고문헌 (Reference)

1 이지영, "휴머노이드 로봇의 동보행 안정도에 관한 연구" 한국기계가공학회 15 (15): 125-130, 2016

2 Shin, M. J., "PID Control of Rotating Speed for a Motor using LabVIEW" The Korean Society of Manufacturing Process Engineers 99-99, 2012

3 Jang, J., "Load Analysis for Obstacle Climbing Mechanism Design of Building" 171 : 2016

4 Minor, M., "Design, Implementation, and Evaluation of an Under-actuated Miniature Biped Climbing Robot" 1999-2005, 2000

5 Akinfiev, T., "Climbing Cleaning Robot for Vertical Surfaces" 36 (36): 352-357, 2009

6 Kim, D. H., "Basic Design of Outside Cleaning Robot using Ultrasonic Sensor and Arduino" The Korean Society of Manufacturing Process Engineers 166-166, 2014

7 Shim, B. K., "A Technology of Obstacle Avoidance Based-on Ultrasonic Sensor" The Korean Society of Manufacturing Process Engineers 287-291, 2008

8 주백석, "A Survey of Climbing Robots: Locomotion and Adhesion" 한국정밀공학회 11 (11): 633-647, 2010

9 Grieco, J. C., "A Six-legged Climbing Robot for High Payloads" 1999-2005, 2000

10 Longo, D., "A Modular Approach for the Design of the Alicia3 Climbing Robot for Industrial Inspection" 31 (31): 148-158, 2004