• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1113-1114
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• 1996

We describe an algorithm to control an autonomous guided vehicle with 2-diagonal driving wheels, which navigates in the clean room.

• 로봇학회논문지
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• 제12권1호
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• pp.65-77
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• 2017

In this paper, we introduce the pipe cleaning robot developed to clean the gas impurities of the iron manufacturing equipments. The pipe cleaning robot is composed of two driving modules and one cleaning module. 2-DOF joint units were developed for connections among the modules. To maximize the traction power of the driving parts, it became caterpillar type. The extension links have been developed to maintain the traction force in case the pipe inner diameters change. Three cleaning modules were developed for the effective cleaning in the pipe. The driving and cleaning performance tests of the pipe cleaning robot were proceeded in the field of the iron manufacturing equipments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.161.3-161
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• 2001

This paper describes design features of a cleaning robot for use in a radioactive zone of the Isolation room of the Irradiated Material Examination Facility (IMEF) at Korea Atomic Energy Research Institute (KAERI). This cleaning robot is intended to completely eliminate human interaction with hazardous radioactive contaminants. The clean ing robot that is operated either by manual mode or by autonomous mode is designed to be capable of cleaning the isolation room´s floor surface and collecting dry nuclear fuel debris and other radioactive waste placed on the floor. The functional, mechanical and electrical design considerations of the cleaning robot in terms of remote cleanup operation and remote maintenance at a radioactive environment are presented. A graphical representation of the cleaning ...

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1993년도 Proceedings of International Conference for Agricultural Machinery and Process Engineering
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• pp.779-790
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• 1993

A prototype of the feeding-milking robot was developed in the Hungarian Institute of Agricultural Engineering in 1988-89. Before starting with the operation tests the cleaning system had to be elaborated . The cleaning system has two parts. Those are the complete cleaning of the system, producing a practically sterile state, as well as flushing through the milking device between milking of two cows. Separate electronic sensor development was necessary for both system which can connect to the control system of the robot. To clean the system pneumatic air input was applied. As an effect of the local adjustment of the electronic control system optimal flow conditions can be formed what is more favourable comparing to the earlier solutions of cleaning due to the mechanical effect. In the flushing through overpressure air is applied. The air and the cleaning liquid input duration can be adjusted to the local conditions. The electronic control unit can be connected to the electric ircuits of robot.

• 반도체디스플레이기술학회지
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• 제10권1호
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• pp.75-81
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• 2011

Today, FPD manufactures are eager to develop larger and larger glass to become the prime market leader. To follow this need, larger AMHS(Automated Material Handling System) development is essential. The radical increase of glass/cassette weight puts a lot of pressure on stocker robot's dual arms, which can cause a damage of expensive glasses and contaminate a clean room facility. In this paper the axiomatic design method is used to institute a design guideline to evenly distribute a pressure throughout the stocker robot structure.

• 한국인터넷방송통신학회논문지
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• 제9권2호
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• pp.45-50
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• 2009

청소로봇이나 경비로봇과 같이 실내에서 이동하며 작업하는 로봇에서는 센서를 통한 환경의 인식이 필수적이다. 사무실 빌딩이나 공동주택의 경우 기본적인 환경이 동일하므로 설계도와 같은 공통된 지도를 이용하면 개별 환경마다 지도를 재작성하는 것보다 유리한 점이 있다. 이때 가구나 장애물 등 위치가 바뀔 수 있는 대상의 정보는 제거하고, 벽, 문, 창 등 불변의 대상을 인식하는 것이 중요하다. 이 논문에서는 사무실이나 가정환경에서 사용할 수 있는 실험용 이동로봇을 구현하고, 레이저스캐너의 정보와 세그먼트의 방향, 위치에 의한 히스토그램 방법을 이용하여 이와 같은 불변의 특징을 추출한다. 로봇에는 레이저스캐너, 자이로 센서, 초음파 센서, 적외선 센서 등이 탑재되며 제어프로그램은 C 프로그램으로 작성되었다.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2012년도 추계 학술논문 발표대회
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• pp.185-187
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• 2012

Recently increasing high-rise building cleaning on the exterior walls of high-rise buildings, there has been increased interest. Building exterior cleaning is cleaned by a cleaning robot and how to clean the exterior walls of the building and exterior glass cleaned by personnel. Number of stories in the building increases, being carried out by personnel cleaning the outer wall as there is a limit order to overcome this method. therefor, this study is a new exterior wall cleaning device has been proposed.

• Design & Manufacturing
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• 제16권3호
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• pp.22-27
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• 2022

The demand for new processing technology that can improve productivity is increasing in industries that require large-scale and various products. In response to this demand, a robot machining system with flexibility is required. Because of the low rigidity of the robot, the robot machining system has a large error during machining and is vulnerable to vibration generated during machining. Vibration generated during machining deteriorates machining quality and reduces the durability of the machine. To solve this problem, a stage for fixing the spindle during machining is required. In order to compensate for the robot's low rigidity, a system combining a piezoelectric actuator for generating a large force and a guide mechanism to actuate with a desired direction is required. Since the rigidity of flexible hinges varies depending on the structure, it is important to optimal design the flexible hinge and high-rigidity system. The purpose of this research is to make analytic model and optimize a flexible hinge and to design a high rigidity stage. In this research, to design a flexible hinge stage, a concept design of system for high rigidity and flexure hinge modeling is carried out. Based on analytic modeling, the optimal design for the purpose of high rigidity is finished and the optimal design results is used to check the error between the modeling and actual simulation results.

• 문화기술의 융합
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• 제5권4호
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• pp.203-208
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• 2019

의료용 컬러 그래픽 연구는 의료용 로봇의 생산 시대를 통해 회사 제품의 디자인 품질을 세계적으로 확대하고 보급하는 기반이 될 것이다. 본 연구에서는 의료 로봇 침대 확대 시대에 걸맞은 기술과 내용, 유니버셜 의료색 적용, 인체공학적 색채 등을 기반으로 하였다. 이와 함께 유니버셜 디자인의 관점에서 의료용 침대 로봇의 색채 연구방향을 제시하였다. 이에 따라, 국내업체에서 개발 중인 의료용 로봇의 기능을 사례로 하여 유니버셜 컬러 설계를 제안하였다. 이 로봇 침대의 특성은 기능별로 3가지로 구분할 수 있는 바, 첫째는 치유성(Curative)으로 욕창 예방을 위한 치료 특성을, 두 번째는 의료 환경을 위한 청결성(Clean)으로 시트 자동교환을, 세 번째는 편의성(Convenient)으로 환자이송을 구현하는 기능을 갖는 것으로 파악된다. 본론으로 이에 적합한 기능 색채의 조합을 제시하였다. 결과적으로 제시한 색채분석 및 유니버설 컬러설계 기법이 첨단 의료용 로봇 침대의 외형과 기능을 잘 표현하는 데 유용한 방법론이 될 수 있을 것이다.

• 한국정밀공학회지
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• 제26권7호
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• pp.73-80
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• 2009

This paper describes a path planning algorithm, which is the minimal turning path based on the shape and size of the cell to clean up the whole area with two cleaning robots. Our method divides the whole cleaning area with each cell by cellular decomposition, and then provides some path plans among of the robots to reduce the rate of energy consumption and cleaning time of it. In addition we suggest how to plan between the robots especially when they are cleaning in the same cell. Finally simulation results demonstrate the effectiveness of the algorithm in an unknown area with multiple robots. And then we compare the performance index of two algorithms such as total of turn, total of time.