굴곡된 작업 환경에서의 탐사 및 치료를 위한 고기능 로봇 시스템 개발

Abstract

The objectives of this research are the development of advanced robotic systems for inspection and treatment at curved working environment. There are many kinds of curved working environment. The major research field is pipeline and natural orifice. The target environment and analyze the motion requirement in the target workspace was defined. The design of the robot mechanism is performed through the kinematic and dynamic analysis of the robot mechanism. Initially, three independent wheel chain mechanisms for pipeline inspection are investigated. The design and motion planning algorithm of a caterpillar based pipeline robot are introduced can be used for inspection of 80-100 mm pipelines in an indoor pipeline environment. A closed-form Jacobian of a pipeline inspection robot driven by three powered wheel chains was derived. The analytic Jacobian is used to find the optimal value of the radius of the robot wheel. Using a two-module robot connected by a compressive spring, the turning motion at both the elbow and T-branch can be conducted successively without any motion singularity. Motion planning with the assistance of a passive spring helps avoid the singular motion. Secondly, a new foldable pipeline inspection robot that can be used for inspection of pipelines with 40mm-70mm diameter was developed. The new wheel chain mechanism is foldable by using a new torsion spring and its backbone. Validity of this new foldable wheel chain mechanism is proved through dynamic simulation using a commercial dynamic simulation program. Thirdly, a flat type pipeline inspection robot with two wheel chains that have multiple sensors for inspection of 80-100mm pipelines was developed. The special feature of this robot is realization of driving and steering capability by using only two wheel chains. The flat shape of this robot allows mounting additional sensors on the both sides of the robot. The kinematics and three control modes are described. Finally, the performance of this robot system is verified by experimentation. Fourthly, a linkage type mechanical clutch synthesis and implementation for pipeline inspection robot was suggested. This chapter presents synthesis of linkage type mechanical clutches (LMC) which are used for retrieving pipeline inspection robots. The linkage type mechanical clutch is designed by using a parallel linkage mechanism. The kinematic model of the pipeline inspection robot is driven and its proto type has been developed. The performance of this robot system is verified by both simulation and experimentation. Lastly, a Larynx Surgery Assistant Robot (LASAR) using flexible instruments instead of the straight instruments used in laryngeal surgery was presented. LASAR is comprised of a master robot, a slave robot, and a user interface. The master device is a passive arm having 7-DOF. The whole body of the master device can be adjustable to the position of the surgeon in a passive way. Next, two control sticks are used to control two surgical instruments of 5-DOF. The slave device consists of three end-effectors and a driving unit using BLDC motors. Each of the end-effectors has 5 DOF and works independently and is detachable in order to replace each one by other instruments. The features of master/slave device are explained and the performance of the proposed robot is tested by using a phantom laryngeal model of a human body. A phantom experiment removing a polyp in the vocal code was performed.