지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학위논문
- 저자정보
- 지도교수
- 한창수
- 발행연도
- 2013
- 저작권
- 한양대학교 논문은 저작권에 의해 보호받습니다.
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이 논문의 연구 히스토리 (3)
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초록· 키워드
오류제보하기
These days, excavators are using in various site including construction work. But safety and efficiency of this machine is problem. Especially, operators are exposed to danger with the machine, may cause serious injury or death. And work efficiency may drop because of operating place that is unstable, causing operator’s weakened muscle shrinking action. So, remote operation can not only reduce risk of injury or death, but also enable to work in dangerous place such as contaminated and impossible to reach.
The object of research is to develop remote controllable robot that attachable to operator and protecting operator from danger and help him to manipulate excavator well in the safe place. And the study will overcome conventional remote controlling system and magnify the better side of system. This attachable robot maintains maneuverability by mapping the workspace between the robot and excavator. And Measuring devices are attached to demo seat to evaluate quantitative maneuverability, prove field application.
The object of research is to develop remote controllable robot that attachable to operator and protecting operator from danger and help him to manipulate excavator well in the safe place. And the study will overcome conventional remote controlling system and magnify the better side of system. This attachable robot maintains maneuverability by mapping the workspace between the robot and excavator. And Measuring devices are attached to demo seat to evaluate quantitative maneuverability, prove field application.
목차
CONTENTSList of Figures iList of Tables ivABSTRACT v1. Introduction 11.1 Research Background 11.2 Research Objective 42. Task Analysis 62.1 Remote control 62.2 Conversion type system 62.3 Installation type system 83. Installation type manipulation robot for remote control 103.1 Lever control system 123.1.1 Mechanical design 123.2 Workspace mapping 183.2.1 Excavator lever workspace 203.2.2 Installation type manipulation robot workspace 223.2.3 Compensation 253.3 Pedal control system 303.3.1 Mechanical design 314. Experiment and results 344.1 Configuration 354.1.1 Master system 364.1.2 Slave system 384.2 Operating test 424.2.1 Basic movement 424.2.2 Evaluation and verification 434.3 Field application 505. Conclusion 54References 55
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