항만공사용 병렬기구형 로봇의 유압-서보 시스템 및 제어 프로그램에 관한 연구
Study on the Hydraulic Servo System of Parallel-Typed Robot for Harbour Construction and the Control Program
유압-서보 시스템 제어 프로그램 항만공사용 병렬기구형 로봇;
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This research develops a Parallel-Typed hydraulic servo system robot for a harbour construction. This construction is to build a breakwater, which is dangerous and difficult. The robot is designed by a optimal design what deliberate its a dexterity, workspace and hight. A 4-bar linkage is attached on platform for making a large rotation angle of the stone grapple. This stone grapple has tow moving teeth with reacting hydraulic cylinders. The robot has two controller one is a main controller isolate from it. The other is a robot controller on it. The main controller communicates with the robot controller. A construction of the hydraulic servo system considers a imposed weight of the robot about 2~3 tons. This paper presents the mechanical design of a miniature robot, its control and application for the breakwater construction. In this paper show a possibility that the hydraulic control system has application to a harbour construction through a position control.