Abstract: The technical objective of the present disclosure is to provide an apparatus for driving a three-dimensional microgravity cable that can reproduce microgravity environments such as those experienced on the moon or Mars. To this end, the apparatus for driving a three-dimensional microgravity cable of the present disclosure comprises: a frame unit for forming a virtual space; a wire unit comprising three or more wires, provided at the frame unit; a winch unit for winding or unwinding each of the three or more wires; tension measuring units, respectively provided at the three or more wires, for measuring the tensions of the respective wires; a position sensing unit, provided at the frame unit, for sensing the position of a participant; and a support unit, positioned in the virtual space, for supporting the participant by the three or more wires.

Abstract: Technical objective is to provide an in-pipe inspection robot for inspecting interior of a pipe, which can exert repulsive force to the pipe when the linear actuator is driven. To this purpose, the in-pipe inspection robot, which is moved inside the pipe to inspect the interior of the pipe, includes a linear actuator which is extendably and contractably driven, and a braking unit configured to fix a rear end of the linear actuator to an inner wall of the pipe and release a front end of the linear actuator from a fixed state, when the linear actuator is being extended, and release the rear end of the linear actuator from the fixed state and fix the front end of the linear actuator to the inner wall of the pipe, when the linear actuator is being contracted.

Abstract: The technical objective of the present disclosure is to provide an apparatus for driving a three-dimensional microgravity cable that can reproduce microgravity environments such as those experienced on the moon or Mars. To this end, the apparatus for driving a three-dimensional microgravity cable of the present disclosure comprises: a frame unit for forming a virtual space; a wire unit comprising three or more wires, provided at the frame unit; a winch unit for winding or unwinding each of the three or more wires; tension measuring units, respectively provided at the three or more wires, for measuring the tensions of the respective wires; a position sensing unit, provided at the frame unit, for sensing the position of a participant; and a support unit, positioned in the virtual space, for supporting the participant by the three or more wires.

Abstract: Technical objective is to provide an in-pipe inspection robot for inspecting interior of a pipe, which can exert repulsive force to the pipe when the linear actuator is driven. To this purpose, the in-pipe inspection robot, which is moved inside the pipe to inspect the interior of the pipe, includes a linear actuator which is extendably and contractably driven, and a braking unit configured to fix a rear end of the linear actuator to an inner wall of the pipe and release a front end of the linear actuator from a fixed state, when the linear actuator is being extended, and release the rear end of the linear actuator from the fixed state and fix the front end of the linear actuator to the inner wall of the pipe, when the linear actuator is being contracted.

Abstract: A multi-legged apparatus enables a multi-legged robot to provide a natural motion, and includes a body portion comprising a body, a front leg portion comprising a front fixing portion fixed to the body, and a front rotating portion rotatably connected to the front fixing portion, a rear leg portion connected to the body and a rear leg portion comprising a rear rotating portion rotatably connected to the rear fixing portion, and a first link rotatably connected, at both ends, to the front and rear rotating portions, respectively. The body portion additionally includes a driving portion which rotates one of the front and rear rotating portions. By employing the first link and the driving portion, the body of the multi-legged robot is moved to and fro and left and right naturally in accordance with the movement of the legs, in a similar pattern as that generally shown in actual multi-legged animals.

Abstract: A three dimensional wire flying system includes a plurality of winches collectively hanging an object and a control unit for controlling the plurality of winches and the main safety device. Each of the plurality of winches includes a drum unit, a wire wound on the drum unit, a motor unit which provides power to the drum unit, a brake module which stops rotation of the drum unit, a limit switch which operates upon detecting a hardware limit state, and a servo-system. Each of the plurality of winches operates to move the object in a three dimensional space in three directions, including an up-down direction, a left-right direction and a forward-backward direction, and each winch provides a multi-level safety protection.

Abstract: According to one embodiment of the present invention, a wire flying system is constituted as follows: an object is hung on a wire such that said object is moved in a three dimensional space, wherein the length of the wire is adjusted by a winch; the three dimensional space includes a first range, a second range in which the length of the wire is within a preset safe length, and a third range in which the length of the wire is within a preset permissible length; a local safe device delivers information on a deviation from the first range to a control unit, if a local safe logic determines that an operating range of the wire is deviated from only the first range; the control unit controls a motor unit by delivering a software limit signal to a servo system unit, so that the operating range of the wire is set to be within the first range again; the local safe device delivers information on a deviation from the second range to the control unit, if the local safe logic determines that the length of the wire is dev

Abstract: A multi-legged walking apparatus enables a multi-legged walking robot to walk in natural motion, and includes a body portion comprising a body, a front leg portion comprising a front fixing portion fixed to the body, and a front rotating portion rotatably connected to the front fixing portion, a rear leg portion connected to the body and a rear leg portion comprising a rear rotating portion rotatably connected to the rear fixing portion, and a first link rotatably connected, at both ends, to the front and rear rotating portions, respectively, wherein the body portion additionally includes a driving portion which rotates one of the front and rear rotating portions. Accordingly, by employing the first link and the driving portion, the body of the multi-legged walking robot is moved to and fro and left and right naturally in accordance with the movement of the legs during walking operation, in a similar walking pattern as that generally shown in actual multi-legged walking animals.