한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제30권7호
  • /
  • Pages.725-732
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  • 2013
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
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삼각트랙을 구비한 외벽 등반로봇 플랫폼의 안정성 및 이동성 향상을 위한 토크 분배 알고리즘 개발

Development of a Torque Distribution Algorithm for Improving Stability and Mobility of the Wall-climbing Robot Platform (ROPE RIDE) Equipped with Triangular Track Wheels

  • 조선미 (서울대학교 기계항공공학부) ;
  • 서근찬 (서울대학교 기계항공공학부) ;
  • 김태균 (서울대학교 기계항공공학부) ;
  • 김종원 (서울대학교 기계항공공학부) ;
  • 김화수 (경기대학교 기계시스템공학과)
  • Cho, Sunme (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Seo, Kunchan (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Kim, Taegyun (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Kim, Jongwon (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Kim, Hwa Soo (Department of Mechanical System Engineering, Kyonngi Univ.)
  • 투고 : 2013.02.12
  • 심사 : 2013.06.05
  • 발행 : 2013.07.01
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초록

This paper presents a torque distribution algorithm for improving the stability and mobility of a wall-climbing robot platform. During ascent, the pitch moment caused by the payload or external disturbances separates the robot's triangular tracks from the wall, significantly deteriorating its stability. Moreover, the reaction forces stemming from the increase in the pulling force may degrade the robot's mobility. Thus, it is very important to minimize the reaction forces acting on the triangular tracks, as well as the fluctuations in the pulling force, during the climb. Through dynamic modeling of the proposed robot platform, we demonstrated the dependence of the robot's stability and mobility on the torque distribution of the triangular tracks. Extensive simulations using different climbing speeds were used to significantly improve the stability and mobility of the proposed robot platform.

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참고문헌

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