Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Development of a Small UGV for Vertical Obstacle Negotiation

수직장애물 환경 주행 능력향상을 위한 소형 UGV 플랫폼 설계

  • 김지철 (KAIST 기계공학과) ;
  • 박종원 (KAIST 기계공학과) ;
  • 백주현 (LIG Nex1(주) 연구개발본부 기계연구센터) ;
  • 유재관 (LIG Nex1(주) 연구개발본부 기계연구센터) ;
  • 김범수 (LIG Nex1(주) 연구개발본부 기계연구센터) ;
  • 김수현 (KAIST 기계공학과)
  • Received : 2011.08.31
  • Accepted : 2011.06.21
  • Published : 2011.10.01
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Abstract

There have been many researches about SUGV (Small Unmanned Ground Vehicle) mechanism regarding off-road mobility and obstacle negotiation. This paper introduces an analysis of geometry parameters to enhance the vertical obstacle negotiation ability for the SUGV. Moreover, this paper proposes an anti-shock structure analysis of wheels to protect the main body of the SUGV when it falls off a vertical obstacle. Major system geometry parameters will be determined under certain constraints. The constraints and optimization problem for maximizing the ability of vertical obstacle negotiation will be presented and discussed. Dynamic simulation results and experiments with manufactured platform will also be presented to validate the analysis. Several types of wheel materials and structures will be compared to determine the best anti-shock wheel design through FEM (Finite Element Method) simulations.

Keywords

References

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