야지 고속 주행 로봇을 위한 패시브 메커니즘의 안정성 비교 분석
Analysis for Stability for Passive Mechanisms of High Speed Mobile Robot on Rough Terrain
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초록
The robot mechanisms that were previously researched had only been conducted for thepurpose of overcoming the obstacles stably at low speed driving and enhancing the stability against highspeed circuitous driving, and yet, the mechanism satisfying two purposes. However, in order to stablydrive with high speed on rough terrain, there is a need for satisfying both of these purposes, as well astesting the efficiency of the mechanisms at high speed driving. There, this paper simulated some of thepassive mechanisms and focused on checking the performances of passive mechanisms throughsimulations and analyzing each mechanism on the basis of an evaluation index. The simulation wasconducted by Adams (The Multi-body Dynamics Simulation Solution) and used various types ofpassive mechanisms which were introduced in the robotics field. As a result, the study confirmed thatpassive mechanisms have a number of situations that affect the driving stability on each direction of rolland pitch. Further study is needed about active mechanism.
Abstract
The robot mechanisms that were previously researched had only been conducted for thepurpose of overcoming the obstacles stably at low speed driving and enhancing the stability against highspeed circuitous driving, and yet, the mechanism satisfying two purposes. However, in order to stablydrive with high speed on rough terrain, there is a need for satisfying both of these purposes, as well astesting the efficiency of the mechanisms at high speed driving. There, this paper simulated some of thepassive mechanisms and focused on checking the performances of passive mechanisms throughsimulations and analyzing each mechanism on the basis of an evaluation index. The simulation wasconducted by Adams (The Multi-body Dynamics Simulation Solution) and used various types ofpassive mechanisms which were introduced in the robotics field. As a result, the study confirmed thatpassive mechanisms have a number of situations that affect the driving stability on each direction of rolland pitch. Further study is needed about active mechanism.
참고문헌 (15)
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