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황기상(Ki Sang Hwang),김도현(Do Hyun Kim),박규진(Kyu Jin Park),김성수(Sung-Soo Kim),박성호(Sung Ho Park) 대한기계학회 2008 大韓機械學會論文集A Vol.32 No.4
An unmanned surveillance robot consists of a machine gun, a laser receiver, a thermal imager, a color CCD camera, and a laser illuminator. It has two axis control systems for elevation and azimuth. Because the current robot system is mounded at a fixed post to take care of surveillance tasks, it is necessary to modify such a surveillance robot to be installed on an UGV (Unmanned Ground Vehicle) system in order to watch blind areas. Thus, it is required to have a stabilization system to compensate the disturbance from the UGV. In this paper, a simulation based design scheme has been adopted to develop a mobile surveillance robot. The 3D CAD geometry model has first been produced by using Pro-Engineer. The required pan and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to compensate the motion of the vehicle which will experience the rough terrain. To test the performance of the stabilization control system of the robot, ADAMS/simulink co-simulations has been carried out.
황기상(Ki Sang Hwang),박규진(Kyu Jin Park),김도현(Do Hyun Kim),김성수(Sung Soo Kim),박성호(Sung Ho Park) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5
An unmaned surveillance robot consists of rifle, laser receiver, thermal imager, color CCD camera, and laser illuminator. A human guard can be replaced with such a robot to take care dangerous surveillance tasks. Currently most of surveillance robots are mounded at a fixed post to take care of surveillance tasks. In order to watch blind areas, it is necessary to modify such a surveillance robot to become a mobile robot. In this paper, simulation based design procedure of mobile surveillance robot has been introduced. 3D CAD geometry model has been produced using Pro-Engineer. Required pen and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to stabilize the system from the motion of the vehicle which experiences the rough terrain. ADAMS-Matlab co-simulation has been also carried out to validate the proposed target tracking and stabilization algorithm.
김도현(Do-Hyun Kim),황기상(Ki Sang Hwang),김성수(Sung-Soo Kim),박성호(Sung Ho Park) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
A mobile surveillance robot, which is mounted at a UGV is under development in order to protect important public area from invaders. It is required to a control system for stabilization of the robot, in order to compensate the disturbance from the UGV. To develop such a robot, expensive field tests are necessary. To reduce the numbers of field tests, a parallel robot that can regenerate UGV motion is very effective tool to test the mobile surveillance robot in the laboratory environment. In this paper, simulation based design procedure for developing 6-axis parallel robot has been introduced for the test of a mobile surveillance robot. The 3D geometric model of the parallel robot is created using ProE. The multi body dynamics model of the parallel robot is also created using ADAMS to carry out kinematics and dynamics analyses. UGV bump run simulation is carried out to generate the UGV motion. The inverse kinematics program is also developed using the Matiab program.
모바일 경계로봇의 테스트를 위한 모션 시뮬레이터의 시뮬레이션 기반 설계
김도현(Do Hyun Kim),황기상(Ki Sang Hwang),김성수(Sung-Soo Kim) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.10
A mobile surveillance robot, which is mounted at a UGV is under development in order to protect important public area from invaders. It is required to a control system for stabilization of the robot, in order to compensate the disturbance from the UGV. To develop such a robot, expensive field tests are necessary. To reduce the numbers of field tests, a motion simulator that can regenerate UGV motion is very effective tool to test the mobile surveillance robot in the laboratory environment. In this paper, simulation based design procedure of 3-axis motion simulator has been introduced for test of a mobile surveillance robot. The 3D geometric model of motion simulator is created using ProE. Multibody dynamics model is also created using ADAMS to carry out kinematics and dynamics analyses. UGV dynamics simulation is carried out to generate the UGV motion. To generate required motor motion of the simulator from the UGV motion data, inverse kinematics program is also developed using Matlab.
Computer Aided Engineering을 이용한 지능형 경계 로봇의 설계
박규진(Park kyu-jin),황기상(Hwang ki-sang),김성수(Kim sung-soo),박성호(Park sung-ho) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
In order to carry out simulation based design of an intelligent surveillance robot, computer aided engineering tools have been employed such as ProEngineer, ADAMS and NASTRAN. First, 3D CAD modeler, ProEngineer has been utilized to create geometric model of all the part of the intelligent surveillance robot. Interference among moving parts has been investigated to insure the mobility of the robot for the desired design specification. 3D CAD model has been converted into the model for multi body dynamic analysis tool ADAMS simulation. A firing has been carried out to select optimum stiffness of the recoil springs. Reaction forces while the firing of M60 has been also obtained. To verify the stability of the housing of the intelligent surveillance robot under the reaction force, structural analysis also has been carried out using NASTRAN. According to the result of the von-mises stress under the maximum reaction force, the housing design has been validated for improve structural safety.
소형 무인주행로봇에 탑재되는 EOD 매니퓰레이터 설계에 대한 연구
고두열,이승호,이준성,황기상,김수현,Koh, Doo-Yeol,Lee, Seung-Ho,Rhee, Joon-Seong,Hwang, Ki-Sang,Kim, Soo-Hyun 한국군사과학기술학회 2011 한국군사과학기술학회지 Vol.14 No.5
In this paper, mechanism design of the explosive ordnance disposal(EOD) manipulator for small unmanned ground vehicle(SUGV) is presented from the conceptual to detailed design. EOD manipulator has been widely developed in the world due to the growing threat of the improvised explosive devices at war. It has distinctive characteristics, such as small size and high loading performance, compared to the industrial manipulator which is fixed on the floor. Design of new EOD manipulator must take into account various functional requirements and constraints simultaneously. We focused on developing the EOD manipulator that has suitable size for the SUGV and maximum 15kg payload capacity. Design approach taken in this paper is based on axiomatic design procedure and comparison among many possible candidates of each joint structure to obtain appropriate entire structure of EOD manipulator.
준정적 방법을 이용한 실시간 다물체 차량 동역학 모델의 컴플아이언스 효과 적용
정완희(Wanhee Jeong),김성수(Sung-Soo Kim),황기상(Ki Sang Hwang) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
Compliance effect for real time multi-body vehicle dynamics model has been considered using quasi-static analysis method. In this method, hard point locations of the suspension subsystem are changed according to the deformation of bush due to joint reaction force. Real time multi-body vehicle model is established using the subsystem synthesis method which is based on recursive formulation. Joint reaction forces are computed by using non-recursive formulation. The proposed method has been validated with 1/4 car simulation of multilink suspension model by comparing with ADAMS compliance model. The proposed method increase very little computation amounts. Thus, it is well suited for real time model.