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항만공사용 병렬기구형 로봇의 유압-서보 시스템 및 제어 프로그램에 관한 연구 원문보기
Study on the Hydraulic Servo System of Parallel-Typed Robot for Harbour Construction and the Control Program

  • 저자

    정진욱

  • 학위수여기관

    昌原大學校 大學院

  • 학위구분

    국내석사

  • 학과

    전기전자제어공학과

  • 지도교수

  • 발행년도

    2003

  • 총페이지

    1책

  • 키워드

    유압-서보 시스템 제어 프로그램 항만공사용 병렬기구형 로봇;

  • 언어

    kor

  • 원문 URL

    http://www.riss.kr/link?id=T9469657&outLink=K  

  • 초록

    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.


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