Cable Array Robot 시스템 설계
Design of a Cable Array Robot System
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초록
Loading/unloading at sea is necessitated as larger container ships are being used. It is also unavoidable to load/unload at sea during military operations. An experimental cable array robot system, which can be used for loading/unloading at sea, consisting of four cables operated by four motors is designed and built. Even though it has simple structure, it has a large pay-load/robot-weight ratio, flexibility and wide workspace and can be easily built at low cost. In order to plan and control the paths of end-effector, two interpolation methods are introduced and compared. Since the robot is entirely based on cable tension, an analysis of tension is also presented for monitoring and planning purpose.
Abstract
Loading/unloading at sea is necessitated as larger container ships are being used. It is also unavoidable to load/unload at sea during military operations. An experimental cable array robot system, which can be used for loading/unloading at sea, consisting of four cables operated by four motors is designed and built. Even though it has simple structure, it has a large pay-load/robot-weight ratio, flexibility and wide workspace and can be easily built at low cost. In order to plan and control the paths of end-effector, two interpolation methods are introduced and compared. Since the robot is entirely based on cable tension, an analysis of tension is also presented for monitoring and planning purpose.
참고문헌 (6)
- Bruckmann, T, "Continuous workspace analysis, synthesis and optimization of wire robots", Proceeding of the ASME 2008 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, pp.1~8 (2008)
- Gorman, J.J, "The cable array robot: Theory and Experiment", Proceedings of the 2001 IEEE International Conference on Robotics & Automation, pp.2804~2810 (2001)
- Mejias, L, "Two seconds to touchdown", vision-based controlled forced landing, RSJ International Conference on Intelligent Robots and systems, pp.2006[DOI]
- 모수원, "해상물동량과 항만의 처리능력", 한국항만경제학회지, 19(2), pp.55~67 (2003), 한국항만경제학회
- Oh, S.-R, "Dynamic Modeling and Robust Controller Design of a Two-Stage Parallel Cable Robot", Multibody System Dynamics, 13(4), pp.385~399 (2005)
- Usher, K, "Air Vehicle Simulator: an Application for a cable Aarray robot", Proceedings of the 2005 IEEE International Conference on Robotics & Automation, pp.2241~2246 (2005)