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유석종(Seok-jong Yoo),이승열(Seung-yeol Lee),최종호(Jong-ho Choe),이용석(Yong-seok Lee),길명수(Myeong-su Gil),이상호(Sang-ho Lee),이상헌(Sang-heon Lee),한창수(Chang-soo Han) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.6
The objective of the study was to propose a multipurpose field robot in hazardous operation environments. This system combines a basic system composed of a multi-DOF manipulator and a mobile platform with an additional module for construction, national defense and emergency-rescue. According to an additional module type combined with a basic system, it can be used in a various fields. In this study, we describe a construction robot which helps a human operator handle easily heavy materials in case of using the cooperation system on construction site. This study introduces an additional module for construction and a robot control algorithm for a HRC(Human-Robot Cooperation). In addition, it proposes a novel construction method to install heavy materials with robot on the construction site.
인간-로봇 협업 시스템을 이용한 천장유리 설치자동화 공정설계-건물 로비부
이정일(Lee Jung-Il),이승열(Lee Seung-Yeol),유석종(Yu Seok-Jong),이상헌(Lee Sang-Heon),이계영(Lee Kye-Young),한창수(Han Chang-Soo) 대한건축학회 2007 대한건축학회 학술발표대회 논문집 - 계획계/구조계 Vol.27 No.1
The rate of accident in relation to installation works of heavy construction materials such as ceiling glass is increasing because construction materials have been towards larger and heavier. Installation works of heavy construction materials lead to frequent accidents, increasing the WMSDs(Work-Related Musculo-Skeletal Disorders) in construction site. In order to solve this problem, the ceiling glass installation robot with HRC (Human-Robot Cooperative) control had been suggested in past. This paper described optimal design of working process for ceiling glass installation based on it. And we applied the working process of ceiling glass installation to building lobby. We expected safety of construction worker and reduction of physical fatigue through the results.
위치 제어를 위한 SMA(Shape Memory Alloy) 매니퓰레이터 설계
이승열(Seok-jong Yu),유석종(Seung-yeol Lee),유병갑(Byung-gab Yu),한창수(Chang-soo Han) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5
This paper describes a new mechanism for improving the force of actuators based on shape memory alloys (SMA) by increasing the number at which a coil pattern SMA spring can evenly be heated. This structure accomplishes a high efficient transformation between force and displacement overcoming the main mechanical drawback of shape memory alloys, that being the limit strain. A pantograph manipulator actuated by the introduced new mechanism has been designed for this research. Mechanical structure and driving mechanism of this manipulator are described in detail, and its control algorithm and current amplifier circuit in a position control system are designed.
길명수(Myeong-su Gil),이승열(Seung-Yeol Lee),유석종(Seok-jong Yoo),최종호(Jong-Ho Choe),심형준(Hyung-joon Sim),한창수(Chang-soo Han) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.6
This paper presents a study on the automation of steel frame building. The hooks used with tower crane are passive, and the linking and unlinking operations between hooks and steel objects are done manually. These operations are laborious as well as dangerous. In particular, the unlinking operations which must be accomplished by workers at the tip of steel columns on the top of building are very dangerous. This study describes invention of a mechanism and a control system for safety and user interface. The design of the mechanism and the control algorithm was evaluated in the construction site.