인명 구조용 로봇의 패들형 말단 장치 설계 및 구현
Design and Implementation of Paddle Type End of Arm Tool for Rescue Robot
2
조회
0
다운로드
1
인용
0
참고문헌
키워드
초록
This paper deals with the paddle type end of arm tool for rescue robot instead of rescue worker in dangerous environments such as fire, earthquake, national disaster and defense. It is equipped at the dual arm manipulator of the rescue robot to safely lift up an injured person. It consists of the paddle for lifting person, sensors for detecting insertion of person onto the paddle, sensor for measuring the tilting angle of the paddle, and mechanical compliance part for preventing incidental injuries. The electronics is comprised of the DAQ module to acquire the sensors data, the control module to treat the sensors data and to manage the errors, and the communication module to transmit the sensors data. After optimally designing the mechanical and electronical parts, we successfully made the paddle type end of arm tool and evaluated its performance by using specially designed jigs. The developed paddle type end of arm tool is going to be applied to the rescue robot for performance verification through field testing.
Abstract
This paper deals with the paddle type end of arm tool for rescue robot instead of rescue worker in dangerous environments such as fire, earthquake, national disaster and defense. It is equipped at the dual arm manipulator of the rescue robot to safely lift up an injured person. It consists of the paddle for lifting person, sensors for detecting insertion of person onto the paddle, sensor for measuring the tilting angle of the paddle, and mechanical compliance part for preventing incidental injuries. The electronics is comprised of the DAQ module to acquire the sensors data, the control module to treat the sensors data and to manage the errors, and the communication module to transmit the sensors data. After optimally designing the mechanical and electronical parts, we successfully made the paddle type end of arm tool and evaluated its performance by using specially designed jigs. The developed paddle type end of arm tool is going to be applied to the rescue robot for performance verification through field testing.
참고문헌 (9)
- J. Casper, "Human–Robot Interactions During the Robot-Assisted Urban Search and Rescue Response at the World Trade Center", IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), 33(3), pp.367~385 (2003)
- J. Hu, "An advanced medical robotic system augmenting healthcare capabilities - robotic nursing assistant", 2011 IEEE International Conference on Robotics and Automation, pp.6264~6269 (2011)
- A. Ko, "Robot Assisted Emergency Search and Rescue System With a Wireless Sensor Network", International Journal of Advanced Science and Technology, 3, pp.69~78 (2009)
- 이원석, "강인한 전신제어 알고리듬을 이용한 구난로봇(HURCULES) 실시간 원격운용제어", 제어.로봇.시스템학회 논문지, 23(12), pp.1070~1076 (2017), 제어·로봇·시스템학회[DOI]
- 최정현, "고중량의 원통형 작업대상물 파지용 집게형 그리퍼의 슬립 조건과 이를 반영한 설계 및 해석", 로봇학회 논문지, 10(4), pp.193~199 (2015), 한국로봇학회[DOI]
- H. Miura, "Field experiment report for tunnel disaster by investigation system with multiple robots", 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp.276~277 (2016)
- B. Chandrasekaran, "Human-robot collaboration:A survey", SoutheastCon 2015, Fort Lauderdale, pp.1~8 (2015)
- K. Miyazawa, "Fire robots developed by the Tokyo Fire Department", Advanced Robotics, 16(6), pp.553~556 (2002)
- W. Lee, "Motion Control for a Rescue Robot using Robust Task-Priority Algorithm", Institute of Control, Robotics and Systems Conference, pp.502~503 (2015)