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http://dx.doi.org/10.7839/ksfc.2018.15.3.029

Design of Attachments for Dual Arm of Disaster-Responding Special Function Machinery by TRIZ  

Cho, Jung San (Department of Robot, Korea Institute of Industrial Technology)
Publication Information
Journal of Drive and Control / v.15, no.3, 2018 , pp. 29-35 More about this Journal
Abstract
This paper presents the design of attachments for dual arms of disaster responding heavy machine. The heavy machine handles a variety of tasks such as cutting, shredding, picking and moving in unstructured environment. Despite the need for rapid response, the heavy machine has difficulty in repeatedly replacing the attachment depending on the task. Thus, we propose a method to solve this physical and functional contradiction relation by using TRIZ separation principles. Above all, the existing equipment and the required working scenarios were surveyed and summarized in order to separate the attachments functionally for right-handed, left-handed and two-handed operation. Then, we proposed the design directions and conceptual design as following: multi function type attachment A, for precise operation and various operations; grab type attachment B, for grasping irregular objects and auxiliary device for both arms to handle bulky objects.
Keywords
Attachment; Hydraulic Manipulator; Dual Arm Manipulator; Special Function Machinery; Disaster Responding;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
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