• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.548-553
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• 2002

Most tasks of the large vertical or ceiling structures have been carried out by human power. Those tasks require us much operation costs and times, safety devices, etc. So the need of automation for those tasks have been rising. That automation needs a wall-climbing mobile vehicle. Most former researches are things about attachment devices and moving mechanisms. A wall-climbing mobile vehicle must be designed by a method different from the case of the vehicle of the horizontal environment. That is because gravity acts as a negative role on the stability of a wall-climbing vehicle. In this thesis, the particular shape characteristics of a wall-climbing mobile vehicle are derived by the wall-environment modeling. In addition, some design constraints of the permanent magnetic wheel as an attachment device was studied. According to those requirements and constraints, one specific wall-climbing mobile vehicle was designed and some experiments were made on the attachment ability of that vehicle.

• 한국정밀공학회지
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• 제21권9호
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• pp.69-76
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• 2004

Most tasks of the large vertical or ceiling structures have been carried out by human power. Those tasks require us much operation costs and times, safety devices, etc. So the need of automation for those tasks have been rising. That automation needs a wall-climbing mobile vehicle. Most former researches are things about attachment devices and moving mechanisms. A wall-climbing mobile vehicle must be designed by a method different from the case of the vehicle of the horizontal environment. That is because gravity acts as a negative role on the stability of a wall-climbing vehicle. In this thesis, the particular shape characteristics of a wall-climbing mobile vehicle are derived by the wall-environment modeling. In addition, some design constraints of the permanent magnetic wheel as an attachment device was studied. According to those requirements and constraints, one specific wall-climbing mobile vehicle was designed and some experiments were made on the attachment ability of that vehicle.

• 한국기계가공학회지
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• 제16권2호
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• pp.114-123
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• 2017

This paper introduces a novel obstacle-climbing robot that moves on the facade of buildings and its climbing mechanism. A winch system set on the top of the building makes the vertical motion of the robot while it climbs obstacles that protrude from the wall surface. The obstacle-climbing robot suggested in this research is composed of a main platform and three modular climbing units. Various sensors installed on each climbing unit detect the obstacles, and the robot controller coordinates the three units and the winch to climb the obstacles using the obstacle-climbing mechanism. To evaluate the performance of the developed robot prototype, a test bed, which consists of an artificial wall and an obstacle, was manufactured. The obstacle size and the time required to climb the obstacle were selected as the performance indices, and extensive experiments were carried out. As a result, it was confirmed that the obstacle-climbing robot can climb various-sized obstacles with a reasonable speed while it moves on the wall surface.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.740-743
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• 2005

Most works of the large vertical ceiling structures have been performed by human manually. These works require much more operation costs, labors and times, etc. Beside most people avoid this works because of it's characteristic such as danger, dirty and difficulty. So necessity of automation for these works has been rising. This automation needs a wall climbing mobile vehicle because of the movement of platform large workspace. In this study, we aim at develop the wheel which can be used for vertical wall-climbing mobile robot using electromagnet wheel. The wheel proposed can be available for several working processes on structures which consist magnetic substance.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.233-234
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• 2012

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 추계학술대회 논문집
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• pp.239-240
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• 2010

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1676-1681
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• 2003

The attachment of mobile vehicle is necessary for the automated operation on the inclined or vertical walls of steel structures. Since the vehicle requires attaching devices additionally, its overall efficiency can be reduced by the devices. Therefore, external shapes of mobile vehicles have to be researched to give the effective movement on the vertical face. For the design of mobile vehicle, the guideline has been derived from the modeling of wall-climbing, so that the vehicle should have a specific external shape for vertical movement due to the gravitational force. Hence, some adequate arrangement of attaching device to the mobile vehicle has been presented for the effective movement. In the experiments with four permanent magnetic wheels, a plausible result was achieved as a vertical attaching force of 185.2(N), a friction force of 153.8(N) and a curvature radius of 1.4m. The mobile vehicle should be modified according to the proposed design guideline. and then it could be applied to a specific operation as an appropriate external shape. Also, Further research is recommended on an optimal posture and a moving method in a specific application. as the attaching force ortho vehicle can be affected by its posture.

• 한국정밀공학회지
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• 제21권9호
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• pp.77-84
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• 2004

The attachment of mobile vehicle is necessary for the automated operation on the inclined or vertical walls of steel structures. Since the vehicle requires attaching devices additionally, its overall efficiency can be reduced by the devices. Therefore, external shapes of mobile vehicles have to be researched to give the effective movement on the vertical face. For the design of mobile vehicle, the guideline has been derived from the modeling of wall-climbing, so that the vehicle should have a specific external shape for vertical movement due to the gravitational force. Hence, some adequate arrangement of attaching device to the mobile vehicle has been presented for the effective movement. In the experiments with four permanent magnetic wheels, a plausible result was achieved as a vertical attaching force of 185.2(N), a friction force of 153.8(N) and a curvature radius of 1.4m. The mobile vehicle should be modified according to the proposed design guideline, and then it could be applied to a specific operation as an appropriate external shape. Also, Further research is recommended on an optimal posture and a moving method in a specific application, as the attaching force of the vehicle can be affected by its posture.

• 한국정밀공학회지
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• 제19권1호
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• pp.143-149
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• 2002

Robot are necessary to automate the work on a vertical plane of work piece to produce a large structure like a ship, so that a permanent magnet wheel has been attempted to be used for a mobile robot. Its adhesive power was enhanced by restricting the occurrence direction of magnetic flow. Furthermore a method which weakened the adhesive force was developed for easy detachement of the wheel by changing magnetic flow with metal pin. To measure the characteristics of the adhesive and detaching farces, a load call and a gaussmeter were used. The result showed that the adhesive power was reduced to 1/3 of normal state by using 4 inducing pins.

• 로봇학회논문지
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• 제2권2호
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• pp.161-167
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• 2007

It is dangerous that an inspector overhauls defects and condition of the inner parts of an oil tanker because of many harmful gases, complex structures, and etc. However, these inspections are necessary to many oil tankers over old years. In this study, we proposed the design of mobile robot for inspection of CAS in oil tanker. The developed CAS inspection mobile robot has four modules, a measurement module of oil tanker's thickness, a corrosion inspection module, a climbing module of the surface on a wall, and a monitoring module. In order to get over at a check position, the driving control algorithm was developed. Magnetic wheels are used to move on the surface of a wall. This study constructed a communication network and the monitoring program to operate the developed mobile robot from remote sites. In order to evaluate the inspection ability, the experiments about performance of CAS inspection using the developed mobile robot have been carried out.