목차

목 차
목 차 ·····························································································ⅰ
그림 목차 ···························································································ⅲ
표 목 차 ·····························································································ⅵ
Nomenclature ····················································································ⅶ
1. 서 론 ································································································1
1.1 연구 배경 ····························································································1
1.1.1 Solar panel Cleaning robot ·······················································1
1.1.2 Drone robot arm ··········································································6
1.2 연구 목적 및 내용 ············································································7
2. 태양광 패널 이동 청소 로봇 ····················································10
2.1 Dr.SPC v1 ························································································10
2.1.1 Dr.SPC v1 소개 및 설계 ·························································10
2.1.2 시스템 제작 ·················································································11
2.1.3 실험 및 결과 ···············································································14
2.2 Dr.SPC v2 ························································································17
2.2.1 Dr.SPC v2 소개 및 설계 ·························································17
2.2.2 시스템 제작 ·················································································20
2.2.3 내부 시스템 구조와 제어 흐름도 ···········································26
2.2.4 실험 결과 ·····················································································30
3. 드론 로봇 팔 ················································································35
3.1 시스템 구상 및 설계 ······································································35
3.1.1 기구학 ·························································································36- ii -
3.2 시스템 제작 ····················································································38
3.3 내부 시스템과 제어 흐름도 ························································41
3.4 실험 및 결과 ··················································································43
4. X-Y plotter ··················································································51
4.1 X-Y plotter를 활용한 전체 시스템 ············································51
4.2 X-Y plotter를 활용한 실험 ··························································52
5. Drone ·····························································································56
5.1 Drone을 활용한 실험 및 결과 ·····················································56
6. 결론 ································································································58
REFERENCE ····················································································60
ABSTRACT ·····················································································6