• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.413-414
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• 2011

• 대한기계학회논문집A
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• 제24권8호
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• pp.2065-2073
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• 2000

In this paper, we present a wall climbing robot whose gate pattern takes after those of specialized climbing animals such as spiders. Characteristic features of the biological locomotion are partly realized in the design of the mechanism. The robot has two legs and a trunk. Each one-dof leg with suction pads is driven by a motor which employs a closed loop linkage mechanism, and the trunk with suction pads steers the whole body of the robot using a motor. By generating adequate trajectories of the leg and simultaneously alternating the suction pattern between the legs and the trunk, we can achieve the spider like motion. The proposed idea is implemented in a robot and some tests are performed to evaluate its performance.

• 제어로봇시스템학회논문지
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• 제18권2호
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• pp.118-125
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• 2012

Based on recent advances in technology, many robots are developed and they are used in a hazardous environment such as military operation, fire, and building collapse and so on. Among them, reconnaissance robot should be able to perform various missions which people can not do. So it needs the capability of moving with hiding its position on rough terrain, overcoming obstacles, and guaranteeing its efficiency of reconnaissance. For this reason there are in progress of researching biomimetic robots. Therefore in this paper we proposed robot mechanism, two modules based on the screw and wheel mechanism which mimic snake, and the spiral climbing method was considered for overcoming the situation when moving on the trees.

• 로봇학회논문지
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• 제4권4호
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• pp.265-272
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• 2009

IVarious driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot's pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn't contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.

• 한국철도학회논문집
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• 제14권3호
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• pp.203-210
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• 2011

본 논문에서는 열차 충돌로 발생되는 충격으로 차축에 큰 수직하중 및 수평하중이 부과될 때 플랜지가 레일을 타고 오르는 탈선현상을 예측할 수 있는 단일 윤축의 이론적 탈선 모델을 연구하였다. 철도차량 충돌 시 크게 타고오름(wheel-climbing), 들려오름(lift-up), 전복(roll-over) 등과 이들의 복합유형탈선이 발생할 수 있다. 타고오름 및 복합 유형의 탈선은 세 가지(Climb-over, Climb/roll-over, Roll-over)로 정의할 수 있다. 본 논문에서는 충돌 후 탈선거동을 예측하기 위하여 타고오름 및 복합 유형 탈선에 대한 단일윤축 이론모델을 제안하고, 정의한 세 가지 탈선거동이 발생하기 위한 조건을 제시하였다. 타고오름 및 복합 유형의 탈선거동을 예측하기 위하여 제안된 단일윤축 이론모델의 타당성을 단순플랜지 형상 윤축모델을 사용한 동역학 시뮬레이션을 통하여 검증하고, 타당성을 보인다.

• 한국생산제조학회지
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• 제26권1호
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• pp.89-99
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• 2017

This paper describes the development of a thigh wearable robot for power assistance during stair climbing. In the wearable robot developed in this study, high-power BLDC motors and high-capacity harmonic reduction gears are used to effectively assist the thigh muscle during stair climbing. In particular, normal ground and stair are distinguished accurately by using wireless smart shoes, and the stair climbing assistance is performed by activating the actuators at an appropriate time. Impedance of the hip joint was effectively reduced by performing friction compensation of the gears, and a wearing adjustment mechanism was designed to fit the robot to the thigh by conveniently modifying the width and tilting angle of the robot using set collars. Consequently, the performance of the developed thigh wearable robot was verified through stair climbing experiments with EMG measurement.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2007년도 추계학술대회 논문집
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• pp.119-120
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• 2007

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.319-320
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• 2013

• 한국산학기술학회논문지
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• 제18권8호
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• pp.344-349
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• 2017

최근 전 세계적으로 고층건물의 외벽청소, 대형 구조물의 벽면검사, 조선에서의 벽면 용접 등 다양한 용도의 벽면이동 로봇들이 개발되고 있다. 기존에 개발된 벽면이동 로봇 중 바퀴형 이동로봇은 요철이 있는 벽면을 이동할 수 없다는 단점이 있으며 보행형 이동로봇은 복잡한 링크구조로 인해 많은 액추에이터가 필요로 하고, 더불어 제어가 복잡해지며 내구성의 문제가 발생한다. 또한 로봇의 무게가 무겁다는 단점이 있다. 본 논문에서는 이러한 단점을 극복하기 위해 간단한 구조를 가진 새로운 벽면이동 로봇을 제시한다. 본 논문의 벽면이동 로봇은 단 한 쌍의 축과 액추에이터를 이용하여 고릴라의 보행방식을 모사하여 이동하며, 진공펌프와 흡착패드를 이용하여 벽면에 진공 흡착한다. 본 논문에서 개발한 로봇의 구성요소로는 이동을 위한 DC모터, 흡착을 위한 진공펌프, 제어를 위한 마이크로 컨트롤러, 기타 동력전달과 형체 유지를 위한 축과 프레임이 있다. 로봇의 성능은 수직 및 수평에서 실험적으로 검증하였다. 본 논문에서 개발한 벽면이동 로봇을 기반으로 다양한 장치를 탑재한 산업현장, 재난재해 현장에서 다양한 기능을 수행하는 로봇의 개발이 가능할 것이라 전망한다.

• Biomolecules & Therapeutics
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• 제14권3호
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• pp.125-131
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• 2006

The inhibitory effects of (-)-epigallocatechin gallate (EGCG), a major compound of green tea, on the development of locomotor sensitization, conditioned place preference (CPP) and dopamine receptor supersensitivity induced by the repeated administration of morphine were investigated in mice. A single administration of morphine produces hyperlocomotion. The repeated administration of morphine develops sensitization, a progressive enhancement of locomotion, which is used as a model for studying the craving and drug-seeking behaviors characterizing addiction, and CPP, which is used as a model for studying drug reinforcement, respectively. EGCG inhibited morphine-induced hyperlocomotion, sensitization and CPP. In addition, EGCG inhibited the development of postsynaptic dopamine receptors supersensitivity, which may be an underlying common mechanism that mediates the morphine-induced dopaminergic behaviors such as sensitization and CPP. Apomorphine (a dopamine agonist)-induced climbing behaviors also were inhibited by a single direct administration of EGCG These results provide evidence that EGCG has anti-dopaminergic activity, as inhibiting the development of dopamine receptor supersensitivity and apomorphine-induced climbing behaviors. Therefore, it is suggested that green tea may be useful for the prevention and therapy of these adverse actions of morphine.