• 로봇학회논문지
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• 제4권4호
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• pp.265-272
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• 2009

IVarious driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot's pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn't contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.

• 한국자동차공학회논문집
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• 제14권6호
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• pp.66-72
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• 2006

In this paper, an analytical investigation on the track separation mechanism for tracked excavator was studied. Relative motions of track links, sprocket, idler and support rollers are very important in the driving of an excavator The interference and friction between each components lead to noise and vibration. And also this has a great influence on the life for tracked excavator. RecurDyn program was used for the three dimensional modeling of the track assembly. Investigating the interference between sprocket and track links, the mechanism of the track separation was analyzed.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.1303-1304
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• 2011

• 한국자동차공학회논문집
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• 제9권1호
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• pp.20-27
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• 2001

A variable configuration tracked vehicle(VCTV) is developed to reduce turning energy and improve climbing ability for stairs. This mechanism has four track T-type frames. By changing the driving direction, each track T-type frame rotates to minimize the contact area with ground. It also has better performance than other VCTV in energy consumption of turning. Futhermore this mechanism is more stable than other VCTV on the rough terrain. When climbing stairs, each track T-type frame rotates to obtain a front attack angle and keep stability on steep stairs. The design parameters of components of track T-type frames are optimized to enhance the performance of climbing stairs. Performance indices include a stable angle, a climbing ability, a height of the vertical obstacle. In case that the overall length of the mechanism is 0.2m, it is required that the radius of the wheels should be 5mm and the length track contacted with he ground should be 0.09m to climb higher and steeper stairs.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 추계학술대회 논문집
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• pp.215-216
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• 2010

• International Journal of Naval Architecture and Ocean Engineering
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• 제8권2호
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• pp.177-187
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• 2016

To evaluate the tractive performance of tracked trencher on seafloor surface, a new shear stress-displacement empirical model was proposed for saturated soft-plastic soil (SSP model). To validate the SSP model, a test platform, where track segment shear test can be performed in seafloor soil simulacrum (bentonite water mixture), was built. Series shear tests were carried out. Test results indicate that the SSP model can describe the mechanical behavior of track segment with good approximation in seafloor soil simulacrum. Through analyzing the main external forces applied to seafloor tracked trencher during the uniform linear trenching process, a drawbar pull prediction model was deduced with the SSP model. A tracked walking mechanism of the seafloor tracked trencher prototype was built, and verification tests were carried out. Test results indicate that this prediction model was feasible and effective; moreover, from another side, this conclusion also proved that the SSP model was effective.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2007년도 추계학술대회 논문집
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• pp.119-120
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• 2007

• 한국정밀공학회지
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• 제25권2호
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• pp.65-71
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• 2008

In this paper, we propose a new driving mode control algorithm for a mobile robot based on obstacle detection. The robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and puesue a stable system due to the lower center of gravity. However this robot system embodied passive type according to operator. In this reason, several problems are detected. So, this research presents a new method of obstacle detection using PSD infrared sensors and translates the variable tracks on the best suited driving mode actively. And experimental results about mentioned are presented.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.804-809
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• 2004

This paper introduces a link-type tracked vehicle which is developed for demining operations. The vehicle consists of three parts - front frame, rear frame and body. The front frame is connected to the rear frame by a rotational passive adaptation mechanism which is a driving mechanism of the vehicle. Additionally, the demining system which is adaptable to mobile robot is developed to clear small Anti-Personnel(AP) mines with inexplosive method. In other words, assembled rakes unearth mines by their opposite rotation to the direction of the robot. Finally, the motions of demining rakes and design parameters of the demining system are analyzed.

• 제어로봇시스템학회논문지
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• 제13권12호
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• pp.1222-1229
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• 2007

In this paper, we propose a new obstacle negotiation method for the rescue robot. The rescue robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and pursue a stable system due to the lower center of gravity. In this research, we add the basis of autonomous navigation, driving mode control based on obstacle detection, to the robot to realize automation of mode transformation. Obstacle detection using PSD(Position Sensitive Device) infrared sensors gives active transformation of the track shape. Finally, experimental results about mentioned are presented.