도로와 험지 주행이 가능한 구동부 설계
Driving Unit Design for Driving on Roads and Rough Terrain
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로봇의 활용도는 점점 증가하는 추세이다. 로봇에서 구동부는 필수적인 요소이며, 구동부의 성능은 로봇의 성능과 직결된다. 다양한 상황에 적용 가능하도록, 접촉압력을 낮게하여 주행하는 caterpillar와 wheel을 복수 채택하는 구동기를 설계한다. 동일 컨셉의 선행 연구들의 문제점을 조명하고, 이를 해결 할 수 있는 실질적인 모델을 제시한 다. 시스템 최적화를 위해 FEM해석 및 수식을 제시하여 적용한다. 후륜 바퀴와 연결된 한 쌍의 모터와 엑추에이터를 이용해 구동 및 전환이 가능하다. 바퀴 축은 모터와 기계적으로 연결되며, 그와 평행 축상 외곽 풀리의 엑추에이 터를 통한 위상변화로 장력을 조절한다. 문제점 극복과 더불어, 주행 포즈 전환 시 지연시간을 배제항 연속적인 운전이 가능하게 하였다. 시스템의 안정성은 내부에서 가장 큰 토크가 부과되는 감속 시스템의 응력분석을 통하여검증된다. 이후 실제 크기의 mock-up 모델 제작을 통해 설계의 타당성을 증명한다.
Abstract
The applications of robots are increasing progressively along with their capabilities. A driving unit is an essential element in any robot and the performance of the robot is directly related to its performance. This study aims to design a transmission that adopts multiple caterpillar and wheel driving arrangement with low contact pressure for versatile applications. The limitations of similar previous studies are highlighted and a practical model to address them is presented. FEM analysis and formulae are applied for system optimization. Driving and switching can be done using a pair of motors and actuators connected to the rear wheel. The wheel axis is mechanically connected to the motor and the tension is adjusted by pose change through the actuator of the outer pulley on the parallel axis. This helps to overcome the problem and allows continuous operation by eliminating the delay time when switching a driving pose. The stability of the system is verified through stress analysis of the deceleration system, where the largest torque is applied internally. Finally, the validity of the proposed design is proved through the fabrication of a mock-up model of actual size.
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