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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.
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.