복합재 구조물 유지보수를 위한 소형 매니퓰레이터 플랫폼 개발
Development of Small Manipulator Platform for Composite Structure Repair
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초록
본 논문에서는 복합재료로 제작된 구조물의 유지보수 자동화를 위한 소형 매니퓰레이터 플랫폼 개발을 위해 기구학적 설계와 다물체 동역학 해석을 수행하였다. 매니퓰레이터의 기구학적 설계를 수행하기 위해 기존 복합재 보수 공정을 고려하였다. 보수용 패치 적층 공정을 고려하여 매니퓰레이터와 엔드 이펙터의 기본 제원을 선정한 뒤 3-D 설계를 수행하였다. 이후 보수공정을 고려한 역기구학 해석을 통해 시뮬레이션 및 제어에 필요한 변수를 MATLAB에서 생성하였다. 플랫폼의 구조안정성 평가를 위해 Altair Inspire와 Optistruct를 통한 다물체 동역학 해석을 수행하였다. Inspire에서 진행된 시뮬레이션을 기반으로 Optistruct에서 다물체 동역학 해석을 수행한 뒤 시간에 따른 최대 변위와 Von-Mises 응력 결과를 통해 구조안정성을 검증하였다. 설계검증을 위해 플랫폼의 실제 제작 및 제어를 수행하여 시뮬레이션과 비교한 결과, 실제 보수과정 경로와 시뮬레이션이 잘 일치하는 것을 확인하였다.
Abstract
In this paper, kinematic design and multi-body dynamics analysis were conducted to develop a small manipulator platform for automating the maintenance of structures made of composite materials. To design manipulator kinematically, the existing composite repair process was considered. The 3D design was conducted after selecting the basic specifications of manipulator and end-effecter in consideration of the patch lamination process for repair. Then, variables necessary for simulation and control were generated in MATLAB through inverse kinematic analysis. To evaluate the structural stability of platform, multibody dynamics analysis was conducted using Altair Inspire and Optistruct. Based on the simulation conducted in Inspire, multibody dynamics analysis was conducted in Optistruct, and structural stability was verified through the results of maximum displacement and Von-Mises stress over time. To verify the design, manufacturing and controlling of platform were conducted and compared with the simulation. It was confirmed that the actual repair process path and the simulation showed a good agreement.
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