고속 주행용 실외 경비로봇을 위한 구동 메커니즘
A Driving Mechanism of Outdoor Security Robots for High Speed Applications
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In this paper, a new driving mechanism of security robotswhich should overcome obstacles with stability even though movingin high speed is introduced. The driving mechanism has spring-based suspension and two wheels positively necessary to overcome obstacles. From the driving mechanism, it is mainly discussed how we can decrease overshoot and impulse occurred when the robot is in the process of overcoming obstacles. Finally, design parameters of the driving mechanism which guarantees stable motion while overcoming obstacles is deduced based on simulation results. Experiments are also followed to demonstrate how well the manufactured system works in its early stage of the practical use.
Abstract
In this paper, a new driving mechanism of security robotswhich should overcome obstacles with stability even though movingin high speed is introduced. The driving mechanism has spring-based suspension and two wheels positively necessary to overcome obstacles. From the driving mechanism, it is mainly discussed how we can decrease overshoot and impulse occurred when the robot is in the process of overcoming obstacles. Finally, design parameters of the driving mechanism which guarantees stable motion while overcoming obstacles is deduced based on simulation results. Experiments are also followed to demonstrate how well the manufactured system works in its early stage of the practical use.
참고문헌 (8)
- M. M. Dalvand, "Design and Modeling of a Stair Climber Smart Mobile Robot", pp.1062~1067 (2003), Proceedings of the 11th International Conference on Advanced Robotics
- J. Lee, "Operating a Six-legged Outdoor Patrol Robot", pp.1034~1039 (2007), Proceedings of the International Conference on Control, Automation and Systems
- 고두열,정해관,곽윤근, "고속 주행하는 무인차량의 둔턱 극복을 위한 구동 메커니즘", 한국자동차공학회 추계학술대회 논문집, pp.580~585 (2007)