http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
진재현(Jaehyun Jin),박병석(Byungsuk Park),안성호(Sungho Ahn),윤지섭(Jisup Yoon),정재후(Jaehoo Jung) 대한기계학회 2003 대한기계학회 춘추학술대회 Vol.2003 No.11
In this paper, fault tolerant mechanisms are presented for a servo manipulator system designed to operate<br/> in a hot cell. A hot cell is a sealed and shielded room to handle radioactive materials, and it is dangerous for<br/> people to work in the hot cell. So, remote operations are necessary to handle the radioactive materials in the<br/> hot cell. KAERI has developed a servo manipulator system to perform such remote operations. However,<br/> since electric components such as servo motors are weakened with radiation, fault tolerant mechanisms have<br/> to be considered. For fault tolerance of the servo manipulator system, hardware and software redundancy has<br/> been considered. In the case of hardware, radioactive resistant electric components such as cables and<br/> connectors have been adopted and motors driving a transport have been duplicated. In case of software, a<br/> reconfiguration algorithm accommodating one motor's failure has been developed. The algorithm uses<br/> redundant axes to recover the end effector's motion in spite of one motor's failure.