한국재료학회지 제28권 제11호 (p.205-212)

인명 구조용 로봇의 패들형 말단 장치 설계 및 구현

Design and Implementation of Paddle Type End of Arm Tool for Rescue Robot
키워드 :
End of Arm Tool,Rescue robot,Paddle Type,Sensor Module,Compliance Part

목차

Abstract
1. 서 론
2. 부상자 구조를 위한 말단 장치 구성 및요구 조건
  2.1 말단 장치의 구성
  2.2 말단 장치의 요구 조건 및 기구 설계
  2.3 말단 장치 전장 설계
3. 인명구조 말단 장치 제작 및 성능 검증
  3.1 말단 장치 제작
  3.2 말단 장치 성능 검증
4. 결 론
References

초록

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.