로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제17권2호
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  • Pages.216-220
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  • 2022
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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단일 사각 레일 주행이 가능한 감시 로봇 설계

Development of an Inspection Robot Operating on a Single Square Rail Track

  • 투고 : 2022.03.25
  • 심사 : 2022.04.22
  • 발행 : 2022.05.31
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초록

This paper proposes an inspection robot that can operate on a single square rail. Various inspection robots have been developed to identify emergency situations in industrial environments, such as those involving fires or individuals with cardiac arrest. Because the robots must operate in wide areas and long tunnels, they are designed to move along a rail installed on the ceiling. Double rail track are typically used to ensure the stability of robot movement. However, the cost for installing a double rail track is nearly two times that for a single rail track. Moreover, it is challenging to install double rail tracks while ensuring the same curvature and interval between the two rails. Therefore, in this study, an inspection robot that operate on a single square rail track is developed. To ensure stable movement in the longitudinal and lateral directions, two passive guide parts are used, and the main active wheel is allowed to move on the upper side of the square rail. The prototype was manufactured, and experiments were performed for different robot velocities.

키워드

참고문헌

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