• Composites Research
• /
• 제37권2호
• /
• pp.76-85
• /
• 2024

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.

• Journal of Advanced Marine Engineering and Technology
• /
• 제30권2호
• /
• pp.211-217
• /
• 2006

This study is focused on the analysis of the characteristics of marine HVAC duct. These results will be applied to develope a robot which is for maintaining a cabin comfort, convenience and healthy through HVAC duct. The followings are the results of this study. (1) The evaluated items which proposed by at the view point of robot's function can be adapted to other vessels for the same purpose, (2) For the case of round type duct. the maximized conditions which robot has to have are straight length of 40.152mm, inclination of $45^{\circ}$. horizontal bending of $90^{\circ}$. increasing diameter of 1.28 times, and 0.625 times decreasing diameter in branch. (3) For the case of rectangular type duct. the maximized conditions are straight length of 15.987mm. aspect ratio of 4.17:1, inclination of $18.92^{\circ}$. horizontal bending of $90^{\circ}$, and 0.65 times decreasing diameter in branch.

• 한국산학기술학회논문지
• /
• 제14권1호
• /
• pp.33-38
• /
• 2013

여러 종류의 증기발생기 검사정비 로봇의 엔드이펙터 모션 구동에 전부 사용할 수 있도록 ARM Cotex M3-107 MCU 기반의 제어기와 엔드이펙터 모션 프로그램 생성 응용소프트웨어로 구성된 범용 엔드이펙터 모션구동 제어시스템을 개발하였다. 범용 제어시스템을 적용하여 엔드이펙터의 직선이송 및 회전이송의 위치 결정의 오차는 무시할만한 수준이며, 재현성은 0.04% 오차를 보여줌으로써 실제로 사용 가능한 범용 엔드이펙터 모션구동 제어시스템을 개발하였다.

• Nuclear Engineering and Technology
• /
• 제53권7호
• /
• pp.2251-2260
• /
• 2021

The motion control of the divertor maintenance system of the China Fusion Engineering Test Reactor (CFETR) was studied in this paper, in which CFETR Multi-Functional Maintenance Platform (MFMP) was simplified as a parallel robot for the convenience of theoretical analysis. In order to design the motion controller of parallel robot, the kinematics analysis of parallel robot was carried out. After that, the dynamic modeling of the hydraulic system was built. As the large variation of heavy payload on MFMP and highly nonlinearity of the system, A Fuzzy-PID controller was built for self-tuning PID controller parameters by using Fuzzy system to achieve better performance. In order to test the feasibility of the Fuzzy-PID controller, the simulation model of the system was built in Simulink. The results have showed that Fuzzy-PID controller can significantly reduce the angular error of the moving platform and provide the stable motion for transferring the divertor.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
• /
• pp.421-423
• /
• 2005

Power transmission lines have been playing a key role as the mainstay of national industry. When a power failure occurs, it can have severe effects on national security as well as national industry and economy. In this paper, we consider an insulator failure, which is one of the main causes of such a power failure. In spite of its importance, however, a shortage of manpower in the insulator maintenance field is getting more serious due to working environments with a high voltage and a high place. For this reason, a new active maintenance technique using a robot system is required to prevent such an insulator failure. In this paper, a new robot mechanism for insulator cleaning and inspection was developed. We confirmed its effectiveness through experiments.

• 한국건축시공학회:학술대회논문집
• /
• 한국건축시공학회 2012년도 춘계 학술논문 발표대회
• /
• pp.157-159
• /
• 2012

In recent years, the number of high-rise buildings has been on the rise. As buildings have become larger in scale, significantly different issues related to their construction and maintenance have emerged. In addition, the automation and mechanization of the cleaning work for the curtain wall, one of the most frequently-performed tasks in building maintenance, is required as a fundamental measure. For this reason, a guide-rail type cleaning robot system is emerging as one of the measures in response to external factors, including gust. The major objective of this study is to propose an economic feasibility forecasting model and to apply the a building facade cleaning robot which is now under development.

• 드라이브 ㆍ 컨트롤
• /
• 제17권4호
• /
• pp.15-22
• /
• 2020

With the need for efficient maintenance technology to reduce maintenance costs for steel bridges, repainting robots are being developed to automate the work in narrow and poor bridge spaces. The repainting robot is equipped with a blasting module to remove paint layers and contaminants. This study developed a prototype monitoring module to be mounted on the repainting robot. The monitoring module analyzes the condition of the painting surface through a camera installed in the front, guides the direction of movement of the robot, and provides the operator with a video to check the working status after blasting through a camera installed in the back. Various image visibility enhancement technologies were applied to the monitoring module to overcome worksite challenges where incomplete lighting and dust occurs.

• 한국건축시공학회:학술대회논문집
• /
• 한국건축시공학회 2020년도 봄 학술논문 발표대회
• /
• pp.18-19
• /
• 2020

Domestic and foreign high-rise buildings are expected to continue to increase in the future. In addition, recently, residents and landlords are demanding maintenance necessary to secure the performance of sustainable buildings, so an effective management plan is needed. Therefore, this study aims to develop customized technologies that can be effectively applied to building structures by comprehensively analyzing existing technology-based research cases. As a result, it is expected that this will serve as a stepping stone to present a s+ample of future technology development along with a reduction in labor dependency on maintenance and quality improvement.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.1696-1699
• /
• 1997

The robot mainpulator for inspection of pressurizer in the nuclear power plant has been developed, which consists of four parts : 2 arms, movable gripper, base frame, contorl console. To extract the damaged electric heating rod inside pressurizer, the gripper has been developed using wire lope and self-locking mechanism. for the examination of the structural stability of the robot manipulator, stress analysis is performed by using the ANSYS code.

• 시스템엔지니어링워크숍
• /
• 통권1호
• /
• pp.165-168
• /
• 2003

A robot system in most industries has a complicated structure, which includes electric and electronic components, and mechanical parts. For this reason, building a robot system also has a very complicated design and maintenance processes. Especially to predict or assess the system's maintainability and safety is important for both designer and operator before it's production or installation of the system. This paper presents an application methodology of FMECA focused on safety in design of a robot system with point of view of reliability engineering.