• The Journal of Korea Robotics Society
• /
• v.7 no.2
• /
• pp.83-91
• /
• 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.

• Proceedings of the KSME Conference
• /
• 2007.05a
• /
• pp.957-962
• /
• 2007

This paper describes a new mechanism for improving the force of actuators based on shape memory alloys (SMA) by increasing the number at which a coil pattern SMA spring can evenly be heated. This structure accomplishes a high efficient transformation between force and displacement overcoming the main mechanical drawback of shape memory alloys, that being the limit strain. A pantograph manipulator actuated by the introduced new mechanism has been designed for this research. Mechanical structure and driving mechanism of this manipulator are described in detail, and its control algorithm and current amplifier circuit in a position control system are designed.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.119-124
• /
• 1988

In this paper, we developed an environment for the analysis of kinematic characteristics of a quadruped robot using animation with simple task planning in SUN3 workstation. The projection method and related graphic utilities are developed, and we considered user interface with mouse. The legs with pantograph mechanism are mathmatically modelled and they will be used for the simulation of algorithms to be develped in the graphic monitor.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.16 no.6
• /
• pp.87-94
• /
• 2002

As a section insulator dividing the electric railroad catenaries with different phases, the AC/DC section insulator which divides AC and DC railroad catenary have the complex structure, and suffer irregular abrasion on the surface or insulator rods when it is installed at the underground railroad. This paper intended as an investigation of the irregular abrasion of section insulators, provides the field measurements of abrasion level along insulator length and the abrasion patterns. The height variation of insulator parts and the balding length of insulators against pantograph's contact force are analysed experimentally, and the irregular abrasion mechanism is clarified with the help of theoretical analysis on the interaction between pantographs and section insulators. On the basis of experimental and theoretical analysis, the countermeasures to reduce the irregular abrasion are provided too.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1530-1534
• /
• 2004

This paper presents a novel bio-mimetic quadruped walking robot with a waist joint, which connects the front and the rear parts of the body. The new robot, called ELIRO-1(Eating LIzard RObot version 1), can bend its body while the legs is transferred, thereby increasing the stride and speed of the robot. The waist-jointed walking robot can move easily from side to side, which is an important feature to guarantee a larger gait stability margin than that of a conventional single rigid-body walking robot. We design the mechanical structure of the robot, which is small and light to have high movability and high degree of human friendship. In this paper, we describe characteristics of the waist joint and leg mechanism as well as the analysis using ADAMS to select appropriate actuators. In addition, a hardware and software of the controller of ELIRO-1 are described.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.38 no.12
• /
• pp.1007-1013
• /
• 1989

This paper describes the procedure of kinmatic design of a quadruped walking machine which has better mobility and higher energy efficiency than the wheeled or tracked vehicles on the rough terrain. Specifically, this paper puts much emphasis on the procedure and its rationality of the design of the leg which is the key mechanical element of the walking robot. And it shows the appropriateness of the selected mechanism and the design method through the walking experiment of the prototype machine built upon the resulted design. The pantograph mechanisms are proved to be acceptable as the leg of the walking machine from the experiment even though it is indicated that the walking speed and the body deflection should be improved further. This paper also describes the problems of the realization of the gait the frictional effects along with their causes in the walking experiment.