탈부착형 로봇 메커니즘 및 모션 Feedback센서를 활용한 무인굴삭 시스템에 관한 연구

Abstract

Excavation and earthmoving equipment mostly operate in accident-prone areas. These areas normally have rollover, confinement, and fall or may be considered harmful work areas due to demolitions and sewage removals. It is inevitable that excavation and earthmoving systems should be developed to secure the safety of operators through unmanned and remote control systems. Therefore, this research proposes a control robot and a motion feedback sensor module that enables excavators to be unmanned and remote controlled without any renovation, remodeling, change, or transformation by applying attachable and separable mechanism and modules. Moreover, this research proposes the robot and sensor module to evaluate the dynamic status without processing remodeling or transformation the existing hydraulic drive excavation system by adpting the easy attachable and separable mechanism. The study verifies this proposal based on observed possibility and feasibility through the experiments.