Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Analysis on Climbing Capability of Wheel Drive Robotic Mechanisms

바퀴구동형 로봇 메커니즘의 등반능력 해석

  • Kim, Byoung-Ho (Bio-mimetic Control & Robotics Lab., Div. of Electrical and Mechatronics Eng., Kyungsung Univ.)
  • 김병호 (경성대학교 전기전자메카트로닉스공학부 생체모방제어 및 로봇연구실)
  • Published : 2008.06.25
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Abstract

It is well-known that a kind of wheel drive mechanism is usefully employed in various service robots. One of the essential requirements for such robots is regarded as the capability of climbing that enables them to run on an inclined road smoothly. So, this paper considers the capability of climbing in a wheel drive robotic mechanism and proposes a necessary discriminating condition to determine the specification of a driving actuator which will be employed. Consequently, it is expected that the proposed discriminating condition can be applied to wheel drive robotic mechanisms in the design aspect.

바퀴구동형 메커니즘은 다양한 서비스 로봇에 유용하게 활용되고 있다. 이러한 로봇을 위하여 가장 기본적이면서 중요하게 요구되는 성능중의 하나는 경사진 도로를 어려움없이 주행할 수 있는 등반능력으로 볼 수 있다. 본 논문에서는 이러한 바퀴 구동형 로봇 메커니즘의 등반능력을 고려하고, 경사면을 원활하게 주행하기 위한 구동기의 사양을 결정하는데 유용한 필요조건을 제시하고자 한다. 결과적으로, 이러한 조건은 이동로봇 메커니즘의 설계에 유용하게 활용될 수 있을 것으로 기대한다.

Keywords

References

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