Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Locomotion Mechanism Using a Combination Cam with Multi-Phases

다중 위상차를 갖는 조합형 캠을 이용한 다족형 이동 메커니즘

  • 김경대 (한국과학기술연구원(KIST) 마이크로시스템연구센터) ;
  • 정연구 (한국과학기술연구원(KIST) 마이크로시스템연구센터) ;
  • 김병규 (한국과학기술연구원) ;
  • 박종오 (지능형 마이크로시스템 개발 사업단(IMC))
  • Published : 2002.12.01
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Abstract

Robots that can move along the narrow and rough tube are very important as the request for the inspection increases. It is necessary for the inspection robots to have a capability to move successfully at even overturned situation and have a simple mechanism to reduce the unexpected failure possibility fer the successful completion of the given mission. Through this paper, the authors propose a novel and simple mechanism using a combination cam device to generate the locomotive motion of multi-legs. This robot uses one DC motor and one combination cam shaft to generate the locomotive motion and can move rough tubes without failure even at the overturned situation. The robot also shows enough fragging force fer the connected line that is very important for a wired inspection robot. Kinematics analysis to design the specification of the robot will be followed and several applications show this robot's potential capabilities.

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References

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