DOI QR코드

DOI QR Code

Stress Analysis of a Window Cleaning Robot using 3D Modeling and Improvement Plan

3D 모델링을 통한 유리창 청소로봇의 응력해석 및 설계 개선방안 도출

  • Kim, Kyoon-Tai (Construction System Research Center, Korea Institute of Civil engineering and building Technology(KICT)) ;
  • Jun, Young-Hun (Construction System Research Center, Korea Institute of Civil engineering and building Technology(KICT))
  • Received : 2017.12.22
  • Accepted : 2018.03.15
  • Published : 2018.04.20

Abstract

Recently, a prototype of a guide rail type window cleaning robot was developed, and is currently undergoing field testing. The size and the load of the robot have not yet been optimized. In this study, a stress analysis was performed to derive quantitative data to improve the current window cleaning robot and secure its structural safety. Through the analysis of its own weight, resistance to wind speed, and other factors, it was found that the robot can be improved in terms of the drooping caused by its own weight and the drag force against wind pressure. The analysis results obtained will be directly applied to improve the design of the window cleaning robot, and it is expected that this will advance the completeness of the robot's design.

최근에 개발되고 있는 가이드레일형 유리창 청소로봇은 현재 첫 번째 시작품이 제작되어 시험 중인 상황으로, 그 크기와 하중이 최적화 되지 못한 상황이다. 본 연구에서는 현재의 유리창 청소로봇을 개선하고 구조적 안전성을 확보하기 위한 정량적인 데이터를 도출하기 위하여 응력해석을 진행하였다. 유리창 청소로봇의 자중, 풍압 등에 의한 응력을 해석한 결과, 자중에 의한 처짐, 풍속에 대한 항력 등에서 개선의 여지가 있음을 발견하였다. 도출된 해석 결과는 유리창 청소로봇의 설계 개선에 직접 적용될 예정이며, 이를 통하여 설계의 완성도를 높일 수 있을 것으로 기대된다.

Keywords

References

  1. Kim KT, Jun YH, Shin EY. Feasibility study of the development of guiderail-type window cleaning equipment. Proceeding of Korea institute of building construction; 2016 May 19-21; Jeju, Korea. Seoul(Korea):Korea institute of building construction; 2016 p. 85-6.
  2. Kim KT, Jun YH, Kim JT, Park KH. Structural analysis of self-weight of cleaning robot for external windows. Proceeding of Korea institute of building construction; 2017 Nov 19-20; Busan, Korea. Seoul(Korea): Korea institute of building construction; 2017 p. 203-4.
  3. Kim KT, Jun YH. A Problem deriving of the window cleaning work through current status analysis. Proceeding of Architectural institute of Korea; 2016 Oct 4-6; Busan, Korea. Seoul(Korea): Architectural institute of Korea; 2016 p. 1578-9
  4. Kim KT, Shin EY, Jun YH. Intelligent external window cleaning robot using window protrusion avoiding technology: Korea institute of civil engineering and building technology; 2017 Jun. Report No: 16CTAP-C117255-01.
  5. Kim KT, Han JG, Kim CH. An Analysis and improvement of exterior wall maintenance works for high-raised building: Korea institute of construction engineering and management. Proceeding of Korea institute of construction engineering and management; 2010 Nov 5-6; Inchun, Korea. Seoul(Korea): Korea institute of construction engineering and management; 2010 p. 359-60
  6. Building maintenance unit [Internet]. JP, Nihon Bisoh co.; 2017 Dec Available from:https://www.bisoh.co.jp/en/gallery/permanent/27.html
  7. BMR Research group. Developent of intelligent robotic system for high-rise building maintenance: Hanyang university; 2015 Apr. 1327p. Report No: R&D10-technology innovation-E03
  8. Newton, I. Newton's Principia mathematica. The mathematical principles of natural philosophy. New York : Daniel Adee; 1687. Book 2. Section 7. Proposition 37; p. 338-43.
  9. Beer, F and Johnson, R. Mechanics of materials. 2nd rev. ed. McGraw-Hill Higher Education, New York(US); 1992. 740 p.
  10. Burr, A and Cheatham, J: Mechanical design and analysis, 2nd rev. ed. Prentice-Hall, New Jersey(US); 1995. section 5.2. Strain, Stress and Strength; p. 256-60.