건설작업자용 착용형 상지 근력지원 로봇의 여자유도 해석을 통한 기구적 성능 향상에 관한 연구

Abstract

Powered robotic exoskeleton is the man to machine, human robot corporative, and integrated system. It combines elaborate human nerve system which stands for the precise and intuitive sensing system in the aspect of the robotics and several electric or hydraulic actuators which can augment human muscle power and high precision. Exoskeleton is super powerful, and extremely strong. It is made up of many actuators so it can easily handle heavy loads and it is possible to amplify or assist human muscle power. Augmentation ability improves the endurance and strength of the human body. These days it is wide open to the public, as there are many different kinds of applications throughout various industries. By these features, exoskeletons are developed for many industrial purposes such as national defense and security, construction, supply and logistics, medical, rehabilitation and so on. As the construction industry lies on severe environment like exceedingly high working condition or extremely under the ground, workers at the construction site often transfer or handle heavy payload which have all different shape and weight each other. Therefore common wheel-type vehicles or another articulated robotics still have difficulties to go further into the poor surroundings - not fairly matched construction materials each other and uneven working conditions. There should be more intelligent decision-making and sensing the environment abilities. Conventional construction work has been highly labor-intensive and has taken many tedious works; up-to-date architectures (the modern buildings) become high-rising and massive as an aspect of its size. Therefore, this research introduces the concept of H.EX.A.R.-Con. (Hanyang EXoskeletal Assistive Robotics for Construction) and the full of the history about improving its kinematic and dynamic performance. By virtue of these robotic approaches, dependency on the laborsaving put into the automation in the construction as following the chapters. Owing to using the exoskeleton at the construction site, laborers’ muscle power can be augmented; risk or the fear factor from workers at the same can be diminished; eventually it comes up with the great value of the efficiency and productivity. The paper follows the content like this below.