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비산먼지 억제를 위한 물 분사 로봇의 최적 설계 및 검증Optimal Design and Verification of a Water Spraying Robot for Dust Suppression

Authors
김설하주백석
Issue Date
Oct-2020
Publisher
한국정밀공학회
Keywords
물 분사 로봇; 먼지 억제; 최적 설계; 건설 자동화; 모션 제어; Water spraying robot; Dust suppression; Optimal design; Construction automation; Motion control
Citation
한국정밀공학회지, v.37, no.10, pp.653 - 658
Journal Title
한국정밀공학회지
Volume
37
Number
10
Start Page
653
End Page
658
URI
https://scholarworks.bwise.kr/kumoh/handle/2020.sw.kumoh/18097
DOI
10.7736/JKSPE.020.042
ISSN
1225-9071
Abstract
In Korea, water spraying to suppress the dust during building dismantling operations has been done manually by human laborers, considered extremely dangerous since it often causes fatal accidents. Abroad, however, water spraying machines have been developed and used in construction sites instead of workers to prevent such serious industrial accidents. In this study, the first domestic water spraying machine is suggested. Since the spraying machine should have a novel dust tracking function, an optimal structure and mechanism should be designed to guarantee its motion performance. The motion for target tracking is achieved by the 2 DOF (Degrees of Freedom) structure comprising a linear and a rotary actuator. Then, the geometric analysis was performed to provide a sufficient kinematic workspace. Through the dynamic performance simulation, the optimal actuator capacities could be selected to generate an appropriate acceleration. The geometric and dynamic performance was evaluated by the extensive motion experiments. With this study, it is expected that an advanced water spraying machine can be developed only with domestic technologies to protect construction laborers from potentially dangerous accidents.
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CHU, BAEK SUK
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