Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Design and Workspace Analysis of Korean Service Home Robot

한국형 가정용 서비스 로봇의 설계 및 작업 공간 분석

  • Bae, Yeong Geol (Intelligent systems and Emotional Engineering Laboratory, Department of Mechatronics Engineering, Chungnam National University) ;
  • Jung, Seul (Intelligent systems and Emotional Engineering Laboratory, Department of Mechatronics Engineering, Chungnam National University)
  • 배영걸 (지능 시스템 및 감성 공학 실험실 충남대학교 메카트로닉스공학과) ;
  • 정슬 (지능 시스템 및 감성 공학 실험실 충남대학교 메카트로닉스공학과)
  • Received : 2013.01.11
  • Accepted : 2013.03.22
  • Published : 2013.04.25
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Abstract

This paper presents design and workspace analysis of a Korean home service robot. The robot is designed with specific needs of floor-task applications suitable for Korean life style. Shoulder and waist of the robot are adjusted by sliding mechanism to increase the workspace of the robot arms. Manipulators are designed and built and their workspaces are analyzed. Experimental studies of the robot for cleaning the floor are conducted.

본 논문은 가사지원 한국형 서비스 로봇의 설계 및 작업공간의 분석에 대해 기술하였다. 한국형 서비스 로봇의 주안점은 바닥작업에 용이하도록 로봇을 설계하는 것이다. 로봇 팔의 길이도 바닥 작업에 용이 하도록 설계하였으며, 그에 따른 작업 공간을 분석하였다. 로봇 설계에 있어서도 매니퓰레이션 작업 영역의 확장을 위해 어깨와 허리에 높이 조절이 가능한 메커니즘과 슬라이딩 메커니즘 등을 적용하였다. 매니퓰레이터를 설계하고 및 제작하였으며, 제작된 매니퓰레이션 시스템의 작업 공간을 분석하였다. 실제로 로봇의 바닥잡업실험을 수행하였다.

Keywords

References

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