한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제29권9호
  • /
  • Pages.978-985
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  • 2012
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
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불가사리 채집 로봇 플랫폼의 개념설계 및 분석

Starfish Capture Robotic Platform: Conceptual Design and Analysis

  • 진상록 (서울대학교 기계항공공학부) ;
  • 이석우 (서울대학교 기계항공공학부) ;
  • 김종원 (서울대학교 기계항공공학부) ;
  • 서태원 (영남대학교 기계공학부)
  • Jin, Sang-Rok (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Lee, Suk-Woo (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Kim, Jong-Won (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Seo, Tae-Won (School of Mechanical Engineering, Yeungnam Univ.)
  • 투고 : 2011.09.29
  • 심사 : 2012.03.02
  • 발행 : 2012.09.01
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초록

Starfish are a critical problem for fishermen since they eat every farming product including shellfish. The number of starfish is increasing dramatically because they have no natural enemy underwater. We consider the concept of capturing starfish using a semi-autonomous robot. A new underwater robot design to capture starfish is proposed using cooperation between humans and the robot. A requirements list for the robot is developed and two conceptual designs are proposed. Each robot is designed as a modular platform. The kinematic and dynamic performance of each robot is analyzed and compared. This study is a starting point for developing a starfish capture robot and designing underwater robots for other applications. In the near future, a prototype will be assembled and tested in a marine environment.

키워드

참고문헌

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피인용 문헌

  1. Conceptual Design and Analysis of the Rough Terrain Mobile Robot vol.30, pp.1, 2013, https://doi.org/10.7736/KSPE.2013.30.1.24
  2. Gain Optimization of a Back-Stepping Controller for 6-Dof Underwater Robotic Platform vol.30, pp.10, 2013, https://doi.org/10.7736/KSPE.2013.30.10.1031
  3. Optimal Design of a Four-bar Linkage Manipulator for Starfish-Capture Robot Platform vol.30, pp.9, 2013, https://doi.org/10.7736/KSPE.2013.30.9.961
  4. Design, modeling and optimization of an underwater manipulator with four-bar mechanism and compliant linkage vol.30, pp.9, 2016, https://doi.org/10.1007/s12206-016-0848-4