표제지
목차
Abstract 11
제1장 서론 16
1.1. 연구 배경 16
1.2. 연구 동향 및 선행연구 20
1.2.1. 주행 로봇의 발전 20
1.2.2. 등반로봇의 부착법 23
1.3. 연구목표 27
제2장 등반로봇의 개발 29
2.1. 부착력 및 구동력 해석 29
2.1.1. 부착력 해석 29
2.1.2. 등반로봇의 구동력 해석 65
2.2. 등반로봇의 설계 및 제작 76
2.2.1. 등반로봇의 자력모듈 설계 76
2.2.2. 등반로봇의 설계 78
2.2.3. 등반로봇의 제작 82
2.3. 등반로봇의 모델링 및 제어기 설계 86
2.3.1. 등반로봇의 수학적 모델링 86
2.3.2. VW모델을 이용한 안정화 제어기 설계 89
2.3.3. 시뮬레이션 91
제3장 실험 및 고찰 94
3.1. 등반로봇의 성능평가 시스템 94
3.1.1. 등반로봇의 성능지표 95
3.1.2. 성능지표의 측정법 96
3.1.3. 로봇 성능 평가(성능평가용 제어 시스템) 100
3.1.4. 실험 환경 구성 102
3.2. 등반로봇 부착력 및 등반 성능 평가 107
3.2.1. 수직지지하중을 통한 부착력 및 슬립 성능 107
3.2.2. 수직등반 성능 109
3.3. 직선궤도 성능 실험 111
3.3.1. 위치 실험 및 성능 평가 실험 111
3.3.2. 전류 소모 및 성능 평가 실험 119
3.3.4. 전류 성능 평가 122
3.3.5. 직선궤도 종합 성능 평가 124
3.4. 곡선궤도 성능 실험 126
3.4.1. 위치 실험 및 성능 평가 실험 126
3.4.2. 전류 소모 및 성능 평가 실험 133
3.4.3. 전류 성능 평가 136
3.4.4. 곡선궤도 종합 성능 평가 138
제5장 결론 140
5.1. 결론 140
5.2. 향후연구 142
참고문헌 143
Appendix 5
Appendix A. 단일 영구자석의 해석 151
Appendix B. 등반로봇 155
Appendix C. (제목없음) 158
Table 1.1. Comparison of robots by driving metod 22
Table 1.2. Adhesive force of climbing robot 23
Table 1.3. Previous studies of climbing robots 26
Table 2.1. Magnetization of the area 44
Table 2.2. Driving resistance factor of the climbing robot according to the slope 67
Table 2.3. Specification of climbing robot 85
Table 3.1. Specifications of motion camera 105
Figure 1.1. Actual high risk work 17
Figure 1.2. Tasks that require application of the climbing robot 18
Figure 1.3. Research Objectives 27
Figure 2.1. Driving force and adhesion... 29
Figure 2.2. B-H Curve 33
Figure 2.3. Magnetization versus coercivity of soft and hard magnetic... 35
Figure 2.4. Progress of hard magnetic materials in the 20th century 37
Figure 2.5. Ideal halbach array 38
Figure 2.6. Halbach array consisting of 5 blocks 38
Figure 2.7. Two-dimensional analysis model 39
Figure 2.8. Halbach array model by region 43
Figure 2.9. Simulation of Halbach array 45
Figure 2.10. Magnetic flux density at a distance of 5 ㎜ of a single... 47
Figure 2.11. Single magnet simulation using FEMM 47
Figure 2.12. Magnetic flux density at a distance of 5 ㎜... 49
Figure 2.13. Halbach array simulation using FEMM 49
Figure 2.14. Magnetic flux density along a distance from a... 50
Figure 2.15. Simulation of the relationship between mounting surface and... 51
Figure 2.16. FEMM simulation at a distance of 2 ㎜ between the mounting... 52
Figure 2.17. FEMM simulation at a distance of 3 ㎜ between the mounting... 53
Figure 2.18. FEMM simulation at a distance of 4 ㎜ between the mounting... 54
Figure 2.19. FEMM simulation at a distance of 5 ㎜ between the mounting... 55
Figure 2.20. FEMM simulation at a distance of 6 ㎜ between the... 56
Figure 2.21. FEMM simulation at a distance of 7 ㎜ between the mounting... 57
Figure 2.22. FEMM simulation at a distance of 8 ㎜ between the mounting... 58
Figure 2.23. FEMM simulation at a distance of 9 ㎜ between the mounting... 59
Figure 2.24. FEMM simulation at a distance of 10 ㎜ between the mounting... 60
Figure 2.25. Simulation of FEMM according to distance between attachment... 61
Figure 2.26. Manufactured halbach array 62
Figure 2.27. Distance measurement between mounting surface and halbach array... 62
Figure 2.28. Adhesion force related to the airgap 64
Figure 2.29. Driving force of climbing robot 66
Figure 2.30. The forces acting on the wheel 68
Figure 2.31. One wheel model of climbing robot 70
Figure 2.32. Relation between slip and friction coefficient 72
Figure 2.33. Total tractive resistance according to an inclination angle 74
Figure 2.34. The output of the motor 75
Figure 2.35. Design of Halbach Array Magnetic Module(HAMM) 77
Figure 2.36. Design of climbing robot 81
Figure 2.37. Fabrication of Halbach Array Magnetic Module(HAMM) 83
Figure 2.38. Production of climbing robot 83
Figure 2.39. Fabrication completed of climbing robot 84
Figure 2.40. Coordinates assignment for the climbing... 86
Figure 2.41. (a) Trajectory tracking results 92
Figure 2.41. (b) Trajectory tracking results 93
Figure 3.1. An example of measuring the vertical support load 97
Figure 3.2. An example of measuring vertical climbing speed 99
Figure 3.3. Robot control and... 101
Figure 3.4. An example scene on... 101
Figure 3.5. Experimental methods & Speed profiles 103
Figure 3.6. Experiment environment based on motion capture system 106
Figure 3.7. System configuration for evaluating vertical climbing speed of the... 106
Figure 3.8. An example scene of... 107
Figure 3.9. An experiment result of slip lengths measured with... 108
Figure 3.10. The speed at maximum load (10.5±0.1[㎏]) 109
Figure 3.11. The speed at maximum load (18.5±0.1[㎏]) 109
Figure 3.12. The first experiment, Position performance... 114
Figure 3.13. The second experiment, Position performance... 115
Figure 3.14. The third experiment, Position performance... 116
Figure 3.15. The third experiment, Position performance... 118
Figure 3.16. The first experiment, Current measurement data... 119
Figure 3.17. The second experiment, Current measurement... 120
Figure 3.18. The third experiment, Current measurement... 120
Figure 3.19. The third experiment, Current... 123
Figure 3.20. Position and Current performance gathered... 125
Figure 3.21. Curve track of a climbing robot 126
Figure 3.22. The first experiment, Position performance evaluation for... 128
Figure 3.23. The second experiment, Position performance evaluation... 129
Figure 3.24. The third experiment, Position performance evaluation for... 130
Figure 3.25. The third experiment, Position performance... 132
Figure 3.26. The first experiment, Current measurement data in Curved... 134
Figure 3.27. The second experiment, Current measurement data in... 134
Figure 3.28. The third experiment, Current measurement data in Curved... 135
Figure 3.29. The third experiment, Current performance... 137
Figure 3.30. Position and Current performance... 139