트랙기반 수중건설로봇의 운동 모델링에 관한 연구
A Study on Dynamic Modeling for Underwater Tracked Vehicle
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초록
The mobility of tracked vehicles is mainly influenced by the interaction between the tracks and soil. When the track of a tracked vehicle rotates, there will be a slip effect between the track and the soil, which creates a track shear force and the vehicle’s driving force. In this paper, the modeling of a working tool such as a trenching cutter and a tracked vehicle that is the lower frame of a track-based operating robot was performed. In addition, a numerical simulation was executed to verify the performance of the design objectives and the motion characteristics of the combined system.
Abstract
The mobility of tracked vehicles is mainly influenced by the interaction between the tracks and soil. When the track of a tracked vehicle rotates, there will be a slip effect between the track and the soil, which creates a track shear force and the vehicle’s driving force. In this paper, the modeling of a working tool such as a trenching cutter and a tracked vehicle that is the lower frame of a track-based operating robot was performed. In addition, a numerical simulation was executed to verify the performance of the design objectives and the motion characteristics of the combined system.
참고문헌 (8)
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- 여태경, "심해저 연약지반용 무한궤도차량의 견인력-슬립 관계에 관한 실험적 연구", 한국해양공학회지, 21(1), pp.75~80 (2007), 한국해양공학회