구난 로봇용 양팔 머니퓰레이터 진동 해석 및 설계
Analysis and Design of the Dual Arm Manipulator for Rescue Robot
2
조회
0
다운로드
3
인용
0
참고문헌
키워드
초록
Dual arm manipulators have been developed for the entertainment purpose such as humanoid type or the industrial application such as automatic assembly. Nowadays, there are some issues for applying the dual arm robot system into the various fields. Especially, robots can substitute human and perform the dangerous activity such as search and rescue in the battle field or disaster. In the paper, the dual arm manipulator which can be adapted to the rescue robot with the mobile platform was developed. The kinematic design was proposed for the rescue activity and the required specification was determined through the kinematic analysis and the dynamic analysis in the various conditions. The proposed dual arm manipulator was manufactured based on the vibration analysis result and its performance was proved by the experiment.
Abstract
Dual arm manipulators have been developed for the entertainment purpose such as humanoid type or the industrial application such as automatic assembly. Nowadays, there are some issues for applying the dual arm robot system into the various fields. Especially, robots can substitute human and perform the dangerous activity such as search and rescue in the battle field or disaster. In the paper, the dual arm manipulator which can be adapted to the rescue robot with the mobile platform was developed. The kinematic design was proposed for the rescue activity and the required specification was determined through the kinematic analysis and the dynamic analysis in the various conditions. The proposed dual arm manipulator was manufactured based on the vibration analysis result and its performance was proved by the experiment.
참고문헌 (12)
- R. Zӧllner, "Programming by Demonstration: Dual-Arm Manipulation Tasks for Humanoid Robots", IEEE, 2004, 479~484
- C. Park, "Design and kinematics analysis of the dual arm robot manipulator for precision assembly", Proc. 2008. IEEE Int. Conf. Industrial Informatics, pp.430~435 (2008)
- H.M. Do, "Dual arm robot for packaging and assembling of it products", IEEE International Conference on Automation Science and Engineering, pp.1063~1066 (2012)
- Toshiharu Mukai, "Development of a Nursing-Care Assistant Robot RIBA That Can Lift a Human in Its Arms", The 2010 IEEE, 2010, ~
- John Hu, "An advanced medical robotic system augmenting healthcare capabilities-robotic nursing assistant", IEEE International Conference on Robotics and Automation, ICRA 2011, pp.6264~6269 (2011)
- Jienan Ding, "Giving Patients A Lift-The Robotic Nursing Assistant(RoNA)", 2014IEEE International Conference on Technologies for Practical Robot Applications(TePRA), pp.1~5 (2014)
- D. Tsetserukou, "Intelligent Variable Joint Impedance Control and Development of a New Whole-Sensitive Anthropomorphic Robot Arm", 2007 International Symposium on Computational Intelligence in Robotics and Automation(CIRA 2007), pp.338~343 (2007)
- Muhammad Rehan Ahmed, "Semi-active compliant robot enabling collision safety for human robot interaction", 2010 International Conference on Mechatronics and Automation (ICMA), pp.1932~1937 (2010)
- O. Zebardast, "Safe joint mechanism using passive compliance method for collision safety", 2013First RSI, 2013, 102~106
- M. Okada, "Design of active", passive hybrid compliance in the frequency domainshaping dynamic compliance of humanoid shoulder mechanism, 2000 (2000), 2250~2257
- 오연택, "인간과의 안전한 상호 작용을 고려한 휴머노이드 조인트 모듈 개발", 로봇학회 논문지, 9(4), pp.264~271 (2014), 한국로봇학회[DOI]
- 박영진, "유연관절로봇의 모터 동역학을 정확하게 재설정하기 위한 적분매니폴드 피드백제어 개발", 로봇학회 논문지, 9(1), pp.20~27 (2014), 한국로봇학회[DOI]