불가사리 채집 로봇 플랫폼의 개념설계 및 분석

Title
불가사리 채집 로봇 플랫폼의 개념설계 및 분석
Other Titles
Starfish Capture Robotic Platform: Conceptual Design and Analysis
Author(s)
서태원진상록[진상록]이석우[이석우]김종원[김종원]
Keywords
Underwater Robot (수중로봇); Remotely Operated Vehicle (원격 조종 수중로봇); Human-robot Cooperation (인간-로봇 협업); Conceptual Design (개념설계); Requirement List (요구사항 목록)
Issue Date
201209
Publisher
한국정밀공학회
Citation
한국정밀공학회지, v.29, no.9, pp.978 - 985
Abstract
Starfish are a critical problem for fishermen since they eat every farming product including shellfish. The number of starfish is increasing dramatically because they have no natural enemy underwater. We consider the concept of capturing starfish using a semi-autonomous robot. A new underwater robot design to capture starfish is proposed using cooperation between humans and the robot. A requirements list for the robot is developed and two conceptual designs are proposed. Each robot is designed as a modular platform. The kinematic and dynamic performance of each robot is analyzed and compared. This study is a starting point for developing a starfish capture robot and designing underwater robots for other applications. In the near future, a prototype will be assembled and tested in a marine environment.
URI
http://hdl.handle.net/YU.REPOSITORY/27205http://dx.doi.org/10.7736/KSPE.2012.29.9.978
ISSN
1225-9071
Appears in Collections:
공과대학 > 기계공학부 > Articles
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