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류성무,백상훈,최혁렬,Ryu, Seong-Mu,Baek, Sang-Hun,Choe, Hyeok-Ryeol 대한기계학회 2001 大韓機械學會論文集A Vol.25 No.1
In this paper, we present a new two-dof anthropomorphic joint mechanism that enables to mimic the humanlike motion. The proposed mechanism, called Double Active Universal Joint(DAUJ), generates a two-dof swivel motion without rolling by the coupled motion of two independent motor. In addition, we perform basic experiments to confirm the effectiveness of the proposed mechanism and the results are reported.
백상훈,류성무,노세곤,최혁렬,Baek, Sang-Hun,Ryu, Seong-Mu,No, Se-Gon,Choe, Hyeok-Ryeol 대한기계학회 2001 大韓機械學會論文集A Vol.25 No.12
Recently, various inpipe inspection robots are developed and its effective values are increased in industrial use. However, it is so difficult to make a inpipe inspection robot system which has flexible mobility and accuracy of inspection in pipelines. Especially, it is very important to know the exact crack position. In this paper, we are to present a lately developed inpipe inspection robot system which can resolve the above Problems. The robot is configured as an articulated structure like a snake. Two active driving vehicles are located in front and rear of the inspection robot respectively and passive modules such as a nondestructive testing module and a control module are chained between the active vehicles. Special feature of the robot system is a ground interface, which is able to show informations of robot and pipelines. By using this, so called virtual map in this paper, user is able to know the pipelines'feature and crack position.
지하 매설 가스배관용 차동 구동형 배관검사 로봇의 개발
노세곤,류성무,최혁렬,No, Se-Gon,Ryu, Seong-Mu,Choe, Hyeok-Ryeol 대한기계학회 2001 大韓機械學會論文集A Vol.25 No.12
Up to now a wide variety of researches on inpipe inspection robots have been introduced, but it still seems to be difficult to construct a robot providing mobility sufficient to navigate inside the complicated configuration of underground pipelines. This paper introduces a robot called MRINSPECT IV(Multifunctional Robotic Crawler for inpipe inSPECTion IV) for the inspection of urban gas pipelines with a nominal 4-inch inside diameter. The proposed robot can freely move along the basic configuration of pipelines such as along horizontal or vertical pipelines. Moreover it can travel along reducers, elbows, and steer in the branches by modulating the speeds of driving modules. Especially, its capability for steering in tile three-dimensional pipeline configuration has a competative edge over the other ones and provides excellent mobility in navigation. Its critical points in the design and construction are introduced and results of experiments are given.
이정훈,류성무,최혁렬,Lee, Jeong-Hun,Ryu, Seong-Mu,Choe, Hyeok-Ryeol 대한기계학회 2000 大韓機械學會論文集A Vol.24 No.8
In this paper, we present a wall climbing robot whose gate pattern takes after those of specialized climbing animals such as spiders. Characteristic features of the biological locomotion are partly realized in the design of the mechanism. The robot has two legs and a trunk. Each one-dof leg with suction pads is driven by a motor which employs a closed loop linkage mechanism, and the trunk with suction pads steers the whole body of the robot using a motor. By generating adequate trajectories of the leg and simultaneously alternating the suction pattern between the legs and the trunk, we can achieve the spider like motion. The proposed idea is implemented in a robot and some tests are performed to evaluate its performance.
마찰을 고려한 탄성변형 환경과 접촉하는 가상도구의 조작감 제시
최혁렬,이승룡,류성무,Choi, Hyoukryeol,Lee, Seungryong,Ryew, Sungmoo 대한기계학회 1998 大韓機械學會論文集A Vol.22 No.4
This paper presents a haptic rendering algorithm in the case that the virtual environment elastically deforms in response to the force applied by a user with a virtual tool. Considering friction, elasticity, multiple contacts and dynamics of the virtual object, this algorithm lets the operator have the feel of interactions in the virtual environment as close as to the reality. Based on the proposed algorithm several experiments are conducted and its effectiveness is confirmed.