Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of Omnidirectional Shock Absorption Mechanism and Stabilizing Dynamic Posture of Miniature Sphere Type Throwing Robot

구형 투척 로봇의 전방향 충격흡수 구조 설계 및 동적 자세 안정화

  • Jung, Wonsuk (Division of Mechanical and Automotive Engineering, Wonkwang University) ;
  • Kim, Young-Keun (School of Mechanical & Control Engineering, Handong Global University) ;
  • Kim, Soohyun (Department of Mechanical Engineering, KAIST)
  • 정원석 (원광대학교 기계자동차공학부) ;
  • 김영근 (한동대학교 기계제어공학부) ;
  • 김수현 (한국과학기술원 기계공학과)
  • Received : 2015.11.01
  • Accepted : 2016.03.14
  • Published : 2016.04.01
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Abstract

In this paper, we propose a novel compact surveillance throwing robot which has an omnidirectional shock absorption mechanism and an active control part of wheel treads to stabilize the dynamic posture of a miniature sphere type throwing robot. This throwing robot, which weighs 1.14kg and is 110mm in height, is designed in a spherical shape to be easily grabbed for throwing. Also, the omnidirectional shock absorbing aspect is designed using several leaf springs connected with inner and outer wheels. The wheel treads control part consists of a link mechanism. Through the field experiments, this robot is validated to withstand higher than 17Ns of omnidirectional impulse and increase the stabilized max speed three times from 11 rad/s to 33rad/s by increasing wheel treads.

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References

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