• 로봇학회논문지
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• 제7권2호
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• pp.83-91
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• 2012

In this paper, we propose a cable climbing robot which can climb up and down the cables in the bridges. The robot mechanism consists of three parts: a wheel based driving mechanism, adhesion mechanism, and safe landing mechanism. The wheel based driving mechanism is driven by tooth clutches and motors. The adhesion mechanism plays the role of maintaining adhesion force by a combination of pantograph, ball screw, and springs even when the power is lost. The safe landing mechanism is developed for guaranteeing the safety of the robot during operations on cables. It can make the robot fall down with reduced speed by dissipating the gravitational forces. The robot mechanism is designed and manufactured for validating its effectiveness.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.92.1-92
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• 2002

$\textbullet$ A compact and robust wall-climbing robot, called MRWALLSPECT-II, is developed. $\textbullet$ The robot is a self-contained system for scanning external surfaces of gas or oil tank. $\textbullet$ The robot has advantages of reduced actuators, parts and easy control. $\textbullet$ The mechanism of the robot employs a closed link mechanism. $\textbullet$ Self-Contained, Wall-Climbing, MRWALLSPECT

• 한국기계가공학회지
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• 제16권2호
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• pp.114-123
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• 2017

This paper introduces a novel obstacle-climbing robot that moves on the facade of buildings and its climbing mechanism. A winch system set on the top of the building makes the vertical motion of the robot while it climbs obstacles that protrude from the wall surface. The obstacle-climbing robot suggested in this research is composed of a main platform and three modular climbing units. Various sensors installed on each climbing unit detect the obstacles, and the robot controller coordinates the three units and the winch to climb the obstacles using the obstacle-climbing mechanism. To evaluate the performance of the developed robot prototype, a test bed, which consists of an artificial wall and an obstacle, was manufactured. The obstacle size and the time required to climb the obstacle were selected as the performance indices, and extensive experiments were carried out. As a result, it was confirmed that the obstacle-climbing robot can climb various-sized obstacles with a reasonable speed while it moves on the wall surface.

• 한국자동차공학회논문집
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• 제9권1호
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• pp.20-27
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• 2001

A variable configuration tracked vehicle(VCTV) is developed to reduce turning energy and improve climbing ability for stairs. This mechanism has four track T-type frames. By changing the driving direction, each track T-type frame rotates to minimize the contact area with ground. It also has better performance than other VCTV in energy consumption of turning. Futhermore this mechanism is more stable than other VCTV on the rough terrain. When climbing stairs, each track T-type frame rotates to obtain a front attack angle and keep stability on steep stairs. The design parameters of components of track T-type frames are optimized to enhance the performance of climbing stairs. Performance indices include a stable angle, a climbing ability, a height of the vertical obstacle. In case that the overall length of the mechanism is 0.2m, it is required that the radius of the wheels should be 5mm and the length track contacted with he ground should be 0.09m to climb higher and steeper stairs.

• Journal of Mechanical Science and Technology
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• 제18권4호
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• pp.573-581
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• 2004

A self-contained wall climbing robot, called MRWALLSPECT (Multi-functional Robot for WALL inSPECTion) II, is developed. It is designed for scanning external surfaces of gas or oil tanks with small curvature in order to find defects. The robot contains all the components for navigation in itself without any external tether cable. Although it takes the basic structure of the sliding body mechanism, the robot has its original characteristic features in the kinematic design with closed link mechanism, which is enabled by adopting a simple and robust gait pattern mimicking a biological system. By employing the proposed link mechanism, the number of actuators is reduced and high force-to-weight ratio is achieved. This paper describes its mechanism design and the overall features including hardware and software components. Also, the preliminary results of experiments are given for evaluating its performances.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.347-348
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• 2010

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.1303-1304
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• 2011

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.434-437
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• 2004

This paper presents the development of a new climbing mechanism for inter-block welding in Shipbuilding. The climbing mechanism is that it is career type of robot that can pass over block interval for welding of interblock in shipbuilding. The point part of mechanism is that move ballscrew. The Ballscrew`s capacity account and dynamic analysis of leg part are achieved through this paper. Force and torque analysis were achieved by simulation. This can have strong point in side of cost-cutting and welding amount of work than existent method.

• 로봇학회논문지
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• 제5권3호
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• pp.177-185
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• 2010

In this paper, a wall climbing robot, called LAVAR, is developed, which is using an impeller for adhering. The adhesion mechanism of the robot consists of an impeller and two-layered suction seals which provide sufficient adhesion force for the robot body on the non smooth vertical wall and horizontal ceiling. The robot uses two driving-wheels and one ball-caster to maneuver the wall surface. A suspension mechanism is also used to overcome the obstacles on the wall surface. For its design, the whole adhering mechanism is analyzed and the control system is built up based on this analysis. The performances of the robot are experimentally verified on the vertical and horizontal flat surfaces.

• 한국정밀공학회지
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• 제29권2호
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• pp.178-184
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• 2012

This paper presents a transformable track mechanism for wall climbing robots. The proposed mechanism allows a wall climbing robot to go over obstacles by transforming the track shape, and also increases contact area between track and wall surface for safe attachment. The track mechanism is realized using a timing belt track with one driving actuator. The inner frame of the track consists of serially connected 5R-joints and 1P-joint, and all joints of the inner frame are passively operated by springs, so the mechanism does not require any actuators and complex control algorithms to change its shape. Static analysis is carried out to determine design parameters which enable $90^{\circ}$ wall-to-wall transition and driving over projected obstacles on wall surfaces. A Prototype is manufactured using the transformable track on which polymer magnets are installed for adhesion force. The size of the prototype is $628mm{\times}200mm{\times}150mm$ ($Length{\times}Width{\times}Height$) and weight is 4kgf. Experiments are performed to verify its climbing capability focusing on $90^{\circ}$ wall to wall transition and driving over projected obstacle.