Composites Research

  • 제37권2호
  • /
  • Pages.76-85
  • /
  • 2024
  • /
  • 2288-2103(pISSN)
  • /
  • 2288-2111(eISSN)
한국복합재료학회 (The Korean Society for Composite Materials)
권호 표지
DOI QR코드

DOI QR Code

탄소섬유 분사형 복합재 유지보수 로봇의 보수성능평가

Performance Evaluation for Repair of Composite Maintenance Robot Using Carbon Fiber Spray Method

  • 송근수 ;
  • 천대한 ;
  • 이재열 ;
  • 신광복
  • Geun-Su Song (Department of Mechanical Engineering, Graduate School, Hanbat National University) ;
  • Dae-Ham Cheon (Department of Mechanical Engineering, Graduate School, Hanbat National University) ;
  • Jae-Youl Lee (Interactive Robotics R&D Division, Korea Institute of Robotics & Technology Convergence) ;
  • Kwang-Bok Shin (Department of Mechanical Engineering, Hanbat National University)
  • 투고 : 2024.02.01
  • 심사 : 2024.03.31
  • 발행 : 2024.04.30
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

본 논문에서는 보수를 위해 생성된 혼합물을 손상부위에 자동으로 분사하여 보수하는 탄소섬유 분사형 복합재 유지보수 로봇을 개발하였다. 로봇 개발을 위해 불연속 탄소섬유와 에폭시 수지(Epoxy resin) 및 경화제가 혼합된 보수용 혼합물을 손상부위에 분사한 뒤 경화시키는 보수공정을 개발하였다. 이후, 개발된 보수공정의 자동화를 위해 협동로봇(Collaborative robot)을 기반으로 보수용 혼합물을 손상부위에 자동으로 흡입 및 분사하는 말단장치(End of arm tool, EOAT)를 개발하였다. 개발된 로봇의 보수성능평가를 위해 복합재 인장시험 규정 ASTM D3039에 의거하여 0° 및 90°일방향 시편 제작 및 시험을 수행하였다. 시험은 손상되지 않은 시편, 손상된 시편, 그리고 손상 후 로봇에 의해 자동으로 보수된 시편에 대해 수행되었다. 시험 결과, 0와 90° 시편에 대해 각각 보수 후 약 10%와 90%의 인장강도 회복율이 확인되어 개발된 탄소섬유 분사형 복합재 보수 로봇의 보수성능을 검증하였다.

In this paper, a composite maintenance robot using carbon fiber spray method was developed that automatically sprays mixture was created for repair to damaged areas to repair them. To develop a robot, a repair process was developed in which a mixture of milled carbon fiber, epoxy resin, and hardener is sprayed and consolidated on the damaged area. To automate the repair process, an EOAT based on a collaborative robot was developed that can automatically suction and spray the mixture onto the damaged area. To evaluate the repair performance of the robot, 0° and 90° unidirectional specimens were manufactured and tested in accordance with ASTM D3039. Tests were performed on undamaged specimen, damaged specimen, and repaired specimen by a robot after damaged. As a result of the specimen test, the tensile strength of the 0° and 90° specimens was recovered by 10% and 90% after repair. Based on the test results, the repair performance of the developed composite maintenance robot was verified.

키워드

과제정보

본 연구는 정부(과학기술정보통신부)의 재원으로 한국연구재단의 지원을 받아 수행된 연구임 (No. 2021R1F1A10 59677).

참고문헌

  1. Min, S.G., Aviation Composite Repair and Parts Localization Foundation Construction Research. Seoul: Korea Aerospace Industries Association, 2015. 
  2. The Boeing Company, Seoul National University R&DB Foundation, K.R. Patent No. 10-2019-0109717. Daejeon: Korean Intellectual Property Office, 2018. 
  3. Lee, J.Y., Jung, M.S., and Shin, K.B., "Development of Automated Lay-up Robot System for Jointing Process of GRP Pipes", Modern Physics Letters B, Vol. 34, No. 07n9, 2020, 2040041. 
  4. U.S. Department of Transportation Federal Aviation Administration, "Repair of Composite Laminates", report number: DOT/FAA/AR-00/46, Virginia: National Technical Information Service, 2000. 
  5. Yoo, J.S., A Study on Static and Fatigue Characteristics of Scarfpatch-repaired Composite Laminates(master). Gyeongsang National University Graduate School of Specialized Aerospace Engineering, Gyeongsangnam-do, 2016. 
  6. Dickson, A.N., Barry, J.N., McDonnell, K.A., and Dowling, D.P., "Fabrication of Continuous Carbon, Glass and Kevlar Fibre Reinforced Polymer Composites Using Additive Manufacturing", Additive Manufacturing, Vol. 16, 2017, pp. 146-152. 
  7. Moon, Y.J., Study on the Durability and Mechanical Properties of Different Type in the Fiber Reinforced Composites(Doctor). Pukyong National University Graduate School, Busan, 2011. 
  8. Epoxy Resin Reactive Diluent D200, https://mychem.ir/en/material, 2015. 
  9. Asokan, R., Manikandan, T., Ganesan, C., and Joseph Stanley, A., "Evaluation of Tensile Strength on Repaired Composite Adhesive Bonded Joint", Procedia Engineering, Vol. 38, 2012, pp. 2337-2346.