Journal of Advanced Marine Engineering and Technology

The Korean Society of Marine Engineering (한국마린엔지니어링학회)
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Performance evaluation method for wall-climbing robots and its application

외벽등반 로봇의 성능평가 방법 및 응용

  • Kim, Jin-Man (Department of Marine Engineering, Mokpo National Maritime University) ;
  • Kim, Heon-Hui (Division of Marine Engineering, Mokpo National Maritime University) ;
  • Nam, Taek-Kun (Division of Marine Engineering, Mokpo National Maritime University)
  • Received : 2016.09.30
  • Accepted : 2017.01.18
  • Published : 2017.01.31
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Abstract

This paper presents a methodology for evaluating the performance of wall-climbing robots. In the literature on wall-climbing robots, there is little information on indices and evaluation methods for consistent and exact performance. Because various types of wall-climbing robots can be developed with regard to adherence and locomotion, a general method of measuring their performance regardless of type is needed. Therefore, we propose two major performance indices-the vertical adhering weight and vertical climbing speed-and their stepwise evaluation procedures. To verify the effectiveness of the proposed method, we applied it to a hull-climbing robot that we previously developed. The target robot was evaluated to have a vertical adhering weight of 18.5 kg through a slip measurement procedure and a vertical climbing speed of 41 cm/s with a position control system.

본 논문은 외벽에 부착하여 이동이 가능한 등반로봇의 성능평가 방법을 다룬다. 등반로봇에 관한 기존의 문헌을 토대로 볼 때, 등반로봇의 성능평가에 관해 일관되고 명쾌한 성능지표 및 방법이 제시되고 있지는 않다. 등반로봇은 부착방식 및 이동방식에 따라 다양하게 구현될 수 있으므로, 형태와 상관없이 보다 일반화된 성능평가 방법이 요구된다. 이에 본 논문은 등반로봇의 성능평가를 위한 2가지 평가지표(수직부착하중, 수직등반속도)와 평가방법을 제안한다. 제안된 방법의 효용성을 검증하기 위하여, 본 논문은 자체 개발된 선체외벽 등반로봇을 대상으로 제안된 성능평가 방법을 적용한다. 보다 구체적으로, 수직부착하중은 등반로봇의 슬립측정을 통해 18.5kg으로 평가되었고, 수직등반속도는 등반로봇의 위치제어시스템을 통해 41cm/s으로 평가되었다.

Keywords

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