Transactions of the Korean Society of Machine Tool Engineers (한국공작기계학회논문집)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Optimal Design for a Wall-Climbing Robot with Static and Vibration Characteristics

정적 및 진동 특성을 고려한 수직이동 로봇의 최적설계

  • 안석희 (국립창원대학교 대학원 기계설계공학과) ;
  • 최국진 (국립창원대학교 대학원 기계설계공학과) ;
  • 홍대선 (국립창원대학교 메카트로닉스 공학부)
  • Published : 2008.12.15
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Abstract

Most of tasks for vertical surface work in shipyard have been accomplished by human workers. However, such manual work often causes injury to workers, also the production cost becomes high due to increasing individual wage. To cope with the circumstance, shipbuilding companies try to introduce wall-climbing robots for carrying out such kind of tasks. In designing a wall-climbing robot, it is essential to minimize its own weight to improve the performance such as moving speed and power saving. For such purpose. this study proposes a method of optimal design for a wall-climbing robot using a genetic algorithm with multi-objective function. Specifically, the thickness of the robot base is minimized to reduce the weight while maintaining the allowable strength and avoiding the resonance frequencies. The proposed method is applied to the design of a wall-climbing robot, and the result shows that the method is useful at an early design stage.

Keywords

References

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