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인명 구조용 로봇의 패들형 말단 장치 설계 및 구현

Title
인명 구조용 로봇의 패들형 말단 장치 설계 및 구현
Translated Title
Design and Implementation of Paddle Type End of Arm Tool for Rescue Robot
Authors
김현중이익호안진웅
DGIST Authors
김현중; 이익호; 안진웅
Issue Date
2018-12
Citation
로봇학회 논문지, 13(4), 205-212
Type
Article
Author Keywords
End of Arm ToolRescue robotPaddle TypeSensor ModuleCompliance Part
ISSN
1975-6291
Abstract
This paper deals with the paddle type end of arm tool for rescue robot instead of rescue worker in dangerous environments such as fire, earthquake, national disaster and defense. It is equipped at the dual arm manipulator of the rescue robot to safely lift up an injured person. It consists of the paddle for lifting person, sensors for detecting insertion of person onto the paddle, sensor for measuring the tilting angle of the paddle, and mechanical compliance part for preventing incidental injuries. The electronics is comprised of the DAQ module to acquire the sensors data, the control module to treat the sensors data and to manage the errors, and the communication module to transmit the sensors data. After optimally designing the mechanical and electronical parts, we successfully made the paddle type end of arm tool and evaluated its performance by using specially designed jigs. The developed paddle type end of arm tool is going to be applied to the rescue robot for performance verification through field testing.
URI
http://hdl.handle.net/20.500.11750/9642
DOI
10.7746/jkros.2018.13.4.205
Publisher
한국로봇학회
Related Researcher
  • Author An, Jinung Brain Robot Augmented InteractioN(BRAIN) Laboratory
  • Research Interests
Files:
There are no files associated with this item.
Collection:
Division of Intelligent RobotBrain Robot Augmented InteractioN(BRAIN) Laboratory1. Journal Articles


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