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모듈형 등반 로봇의 벽간 전환 정역학 분석

Title
모듈형 등반 로봇의 벽간 전환 정역학 분석
Other Titles
Reconfigurable Wall-Climbing Robot for All Directional Transition
Author
박창민
Advisor(s)
서태원
Issue Date
2020-02
Publisher
한양대학교
Degree
Master
Abstract
최근 교량이나 선박 구조물과 같이 근로자가 작업하기 위험한 작업현장에서 많은 산업재해가 발생하고 있다. 때문에 현재까지 많은 연구들이 극한 환경에서 사람을 대신하여 작업 할 수 있는 다양한 형태의 로봇이 요구되고 있으며 그에 따라 다양한 구동 방식에 따른 벽면 등반 로봇들이 요구되고 있다.[1] 본 연구는 기존 등반 로봇들의 등반 한계점인 내외벽 전환의 한계점들을 극복하기 위하여 모듈형 로봇을 제안하고 설계하였다. 안정적인 내외벽 전환을 위하여 해석 및 시뮬레이션 결과를 등반 테스트 로봇에 반영하여 속도 및 커넥터의 각 변화를 활용하여, 기존에 연구된 로봇보다 안정적인 등반 및 벽면전환 성능을 보여주었다. 또한 군집 로봇 제어의 장점을 활용하여 상황에 따라 필요한 등반 로봇의 개수를 변경하여 기존의 한계였던 경우의 내외벽 전환이 가능함을 확인하였다.|Recently, many industrial accidents are occurring in workplaces where workers are dangerous to work, such as bridges and ship structures. Because of this, many studies have been demanding various types of robots that can work on behalf of humans in extreme environments, and accordingly, wall climbing robots have been studied according to various driving methods. This study designed a modular robot to overcome the points where the climbing limits of the existing climbing robots cannot be changed. Based on the analysis and simulation, we used the variation of the speed and the connector of the robot in the actual experiment for stable internal and external wall switching, and showed more stable climbing than the previous studies. In addition, by utilizing the advantages of modular robots, we showed the interior and exterior wall switching according to the number of climbing robots needed according to the situation.; Recently, many industrial accidents are occurring in workplaces where workers are dangerous to work, such as bridges and ship structures. Because of this, many studies have been demanding various types of robots that can work on behalf of humans in extreme environments, and accordingly, wall climbing robots have been studied according to various driving methods. This study designed a modular robot to overcome the points where the climbing limits of the existing climbing robots cannot be changed. Based on the analysis and simulation, we used the variation of the speed and the connector of the robot in the actual experiment for stable internal and external wall switching, and showed more stable climbing than the previous studies. In addition, by utilizing the advantages of modular robots, we showed the interior and exterior wall switching according to the number of climbing robots needed according to the situation.
URI
https://repository.hanyang.ac.kr/handle/20.500.11754/123587http://hanyang.dcollection.net/common/orgView/200000437342
Appears in Collections:
GRADUATE SCHOOL[S](대학원) > MECHANICAL CONVERGENCE ENGINEERING(융합기계공학과) > Theses (Master)
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