In this paper, we analyzed the safety on static and dynamic characteristics of a top-down evacuation instrument fixed on the exterior walls of a building using finite element analysis. For this purpose, the stress distribution characteristics of the H-beam structure were analyzed and the equivalent stress distribution, deflection displacement and natural frequency characteristics of the overall structure of the evacuation instrument were analyzed. The structures were applied with the materials of SS440 and SUS304. The static analysis results showed the elastic behavior with safety coefficients from 2.4 to 2.9, by confirming the structural safety. In addition, the analysis of the natural frequency characteristics confirmed that the vibration characteristics were higher than the external conditions of 20Hz.

In spite of the difficulties and uncertain characteristic of cable driven method, surgical robot instrument has adopted it as driving mechanism for various reasons. To overcome the problem of cable system, previous research applied SMCSPO (sliding mode control with sliding perturbation observer) algorithm as robust controller to control the instrument and found that the value of SPO (sliding perturbation observer) followed force disturbance, reaction force loaded on the tip very similarly. Thus, this paper confirms that the perturbation observer is sufficient estimator which finds out the mount of loaded force on the surgical robot instrument. To prove the proposition, simulation using the similar model with an actual instrument and experimental evaluation are performed. The results show that it is possible to substitute SPO for sensors to measure the reaction force. This estimated reaction force will be used to realize haptic function by sending the reaction force to a master device for a surgeon. The results will contribute to create surgical benefit such as shortening the practice time of a surgeon and giving haptic information to surgeon by using it as haptic signal to protect an organ by making force boundary.