한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제21권9호
  • /
  • Pages.69-76
  • /
  • 2004
  • /
  • 1225-9071(pISSN)
  • /
  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

영구 자석 바퀴를 이용한 벽면 이동 로봇의 설계시의 제약 사항들에 대한 연구 (Part 1 - 설계지침)

Study on the Design Constraints of the Wall-Climbing Mobile Robot Using Permanent Magnetic Wheels (Part 1 - Design Guideline)

  • 발행 : 2004.09.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

Most tasks of the large vertical or ceiling structures have been carried out by human power. Those tasks require us much operation costs and times, safety devices, etc. So the need of automation for those tasks have been rising. That automation needs a wall-climbing mobile vehicle. Most former researches are things about attachment devices and moving mechanisms. A wall-climbing mobile vehicle must be designed by a method different from the case of the vehicle of the horizontal environment. That is because gravity acts as a negative role on the stability of a wall-climbing vehicle. In this thesis, the particular shape characteristics of a wall-climbing mobile vehicle are derived by the wall-environment modeling. In addition, some design constraints of the permanent magnetic wheel as an attachment device was studied. According to those requirements and constraints, one specific wall-climbing mobile vehicle was designed and some experiments were made on the attachment ability of that vehicle.

키워드

참고문헌

  1. Luk, B. L, Collie, A. A and Billingsley, J. 'ROBUG Ⅱ : An Intelligent wall climbing robot,' Proceedings of the IEEE Int. Conf. on Robotics and Automation, pp.2342-2347, 1991
  2. Briones, L., Bustamante, P. and Serna, M. A., 'Wall-Climbing Robot for Inspection in Nuclear Power Plants,' Proceedings of the IEEE Int. Conf. on Robotics and Automation, pp. 1409-1414, 1994 https://doi.org/10.1109/ROBOT.1994.351292
  3. Guo, L., Rogers, K. and Kirkham, R., 'A Climbing Robot with Continuous Motion,' Proceedings of the IEEE Int. Conf. on Robotics and Automation, pp.2495-2500, 1991 https://doi.org/10.1109/ROBOT.1994.351136
  4. A. Nagakubo and S. Hirose, 'Walking and Running of the Quadruped Wall-Climbing Robot,' Proceedings of the IEEE Int. Conf. on Robotics and Automation, pp.1005-1012, 1994 https://doi.org/10.1109/ROBOT.1994.351225
  5. Arikawa, K. and Hirose, S., 'Study of Walking Robot for 3 Dimensional Terrain,' Proceedings of the IEEE Int. Conf. on Robotics and Automation, pp.703-708, May. 1995 https://doi.org/10.1109/ROBOT.1995.525366
  6. Ikeda, K. and Nozaki, T., 'Development of a Self-Contained Wall-Climbing Robot,' Proceedings of Int. Symposium on Advanced Robot Technology, pp.365-372, 1991
  7. Choi, H. R., Lee, J. H., 'Development of wall climbing robot,' Proc. of kspe, pp.3-6 May 1999
  8. Han, S. C., Yi, H. C., 'A Study on a Detachment of a Permanent Magnet Wheel for a Wall-Climbing Mobile Robot using Magnetic Inducement,' J. of the KSPE, Vol. 19, No.1, pp. 143-149, 2002