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전방향 이동 메커니즘을 적용한 콘크리트 폴리싱 로봇의 성능평가Performance Evaluation of Concrete Polishing Robot with Omnidirectional Mobile Mechanism

Other Titles
Performance Evaluation of Concrete Polishing Robot with Omnidirectional Mobile Mechanism
Authors
조광익주백석
Issue Date
2016
Publisher
한국생산제조학회
Keywords
Concrete polishing robot; Construction robot; Automatic tool change; Mecanum wheel; Omnidirectionality
Citation
한국생산제조학회지, v.25, no.2, pp.112 - 117
Journal Title
한국생산제조학회지
Volume
25
Number
2
Start Page
112
End Page
117
URI
https://scholarworks.bwise.kr/kumoh/handle/2020.sw.kumoh/1263
DOI
10.7735/ksmte.2016.25.2.112
ISSN
2508-5093
Abstract
In the construction industry, concrete polishing is used to grind and rub the surface of concrete grounds with polishing machines to increase the strength of the concrete after deposition. Polishing is performed manually in spite of the generation of dust and the requirement of frequent replacements of the polishing pad. The concrete polishing robot developed in this research is a novel polishing automation system for preventing the workers from being exposed to poor working environments. This robot is able to change multiple polishing tools automatically; however, the workers can conveniently replace the worn-out polishing pads with new ones. The mobile platform of the polishing robot employs omnidirectional wheels to enable a flexible motion even in small and complicated workspaces. To evaluate the performance of the developed concrete polishing robot, extensive experiments including square trajectory tracking, automatic tool changing, actual polishing, and path generation simulation were performed.
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