지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
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연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2012.2
- 수록면
- 123 - 129 (7page)
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초록· 키워드
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Recently, interests on cleaning robots workable in pipes (termed as in-pipe cleaning robot) are increasing because Garbage Automatic Collection Facilities (i.e, GACF) are widely being installed in Seoul metropolitan area of Korea. So far research on in-pipe robot has been focused on inspection rather than cleaning. In GACF, when garbage is moving, the impurities which are stuck to the inner face of the pipe are removed (diameter: 300 mm or 400 mm). Thus, in this paper, by using TRIZ (Inventive Theory of Problem Solving in Russian abbreviation), an in-pipe cleaning robot of GACF with the 6-link sliding mechanism will be proposed, which can be adjusted to fit into the inner face of pipe using pneumatic pressure(not spring). The proposed in-pipe cleaning robot for GACF can have forward/backward movement itself as well as rotation of brush in cleaning. The robot body should have the limited size suitable for the smaller pipe with diameter of 300 mm.
In addition, for the pipe with diameter of 400 mm, the links of robot should stretch to fit into the diameter of the pipe by using the sliding mechanism. Based on the conceptual design using TRIZ, we will set up the initial design of the robot in collaboration with a field engineer of Robot Valley, Inc. in Korea. For the optimal design of in-pipe cleaning robot, the maximum impulsive force of collision between the robot and the inner face of pipe is simulated by using RecurDyn® when the link of sliding mechanism is stretched to fit into the 400 mm diameter of the pipe. The stresses exerted on the 6 links of sliding mechanism by the maximum impulsive force will be simulated by using ANSYS ® Workbench based on the Design Of Experiment(in short DOE). Finally the optimal dimensions including thicknesses of 4 links will be decided in order to have the best safety factor as 2 in this paper as well as having the minimum mass of 4 links. It will be verified that the optimal design of 4 links has the best safety factor close to 2 as well as having the minimum mass of 4 links, compared with the initial design performed by the expert of Robot Valley, Inc. In addition, the prototype of in-pipe cleaning robot will be stated with further research.
In addition, for the pipe with diameter of 400 mm, the links of robot should stretch to fit into the diameter of the pipe by using the sliding mechanism. Based on the conceptual design using TRIZ, we will set up the initial design of the robot in collaboration with a field engineer of Robot Valley, Inc. in Korea. For the optimal design of in-pipe cleaning robot, the maximum impulsive force of collision between the robot and the inner face of pipe is simulated by using RecurDyn® when the link of sliding mechanism is stretched to fit into the 400 mm diameter of the pipe. The stresses exerted on the 6 links of sliding mechanism by the maximum impulsive force will be simulated by using ANSYS ® Workbench based on the Design Of Experiment(in short DOE). Finally the optimal dimensions including thicknesses of 4 links will be decided in order to have the best safety factor as 2 in this paper as well as having the minimum mass of 4 links. It will be verified that the optimal design of 4 links has the best safety factor close to 2 as well as having the minimum mass of 4 links, compared with the initial design performed by the expert of Robot Valley, Inc. In addition, the prototype of in-pipe cleaning robot will be stated with further research.
목차
Abstract
1. 서론
2. TRIZ를 이용한 관로 청소 로봇의 기초 설계
3. RecurDyn®을 이용한 로봇 시뮬레이션
4. 6-Link Slide Mechanism의 최적 설계
5. 결론
후기
참고문헌
참고문헌 (8)
참고문헌 신청
1. [보고서] - Yun, H. Y / 2007 / Status of Automated Waste Collection System and Scheme of Management hereafter
2. [학술지(정기간행물)] - Rho, S. G / 2001 / Development of Differentially Driven Inpipe InspectionRobot for Underground Gas Pipeline / Journal of theKSME 25 (12) : 2019 ~ 2029
4. [학술지(정기간행물)] - 이건상 / 2007 / 창의적 문제 해결이론(트리즈)을 이용한자전거용 무단 변속장치의 개발 / 한국정밀공학회지 24 (7) : 75 ~ 82
5. [단행본] - Kim, H. J / 2006 / Creative Science of TRIZ / DuYangSa : 38 ~ 68
6. [단행본] - Genichi, T / 2001 / TAGUCHI`s Quality Engineering Handbook / Wiley
2. [학술지(정기간행물)] - Rho, S. G / 2001 / Development of Differentially Driven Inpipe InspectionRobot for Underground Gas Pipeline / Journal of theKSME 25 (12) : 2019 ~ 2029
4. [학술지(정기간행물)] - 이건상 / 2007 / 창의적 문제 해결이론(트리즈)을 이용한자전거용 무단 변속장치의 개발 / 한국정밀공학회지 24 (7) : 75 ~ 82
5. [단행본] - Kim, H. J / 2006 / Creative Science of TRIZ / DuYangSa : 38 ~ 68
6. [단행본] - Genichi, T / 2001 / TAGUCHI`s Quality Engineering Handbook / Wiley
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