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야지 구동을 위한 자기유변유체 기반의 가변형 그리퍼를 갖는 모듈형 정찰 로봇 개발
김기훈(Gihoon Kim),김지훈(Jihun Kim),김남식(Namsik Kim),심석우(Seokwoo Shim),정원석(Wonsuk Jung) 대한기계학회 2017 대한기계학회 춘추학술대회 Vol.2017 No.11
In this paper, we propose a novel reconnaissance modular type robot having changeable contact surface using magnetorheological fluid to increase grip force. This proposed changeable contact surface in the gripper of each module can change the surface shape similar to terrain or obstacle shape using MR fluid. After this surface altered like obstacle shape, we can generate the magnetic field by applied voltage and control the shear stress to increase grip force. Through the field experiments, the designed module is validated to overcome various obstacles.