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양방향 변형이 가능한 1 자유도 변형 바퀴 메커니즘의 자율 설계
김중호(Jungho Kim),심정원(Jeong Won Shim),김영수(Youngsoo Kim),김윤영(Yoon Young Kim) 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.11
The 1-DOF (degree of freedom) mechanism has a simple structure and is easy to control, so it is desirable for a mobile robot using a tri-footed wheel to overcome various obstacles. So far, the designs of 1-DOF transformable wheel mechanisms have been mainly limited to simple shape changes between wheel and legs or unidirectional transformation, so they are not stable in overcoming the combined obstacles of climbing and descent. Here, we develop an autonomous synthesis method of a 1-DOF mechanism that can adaptively implement both ascending and descending motions. First, we construct the target motion of the mechanism to satisfy the required climbing performance. Second, the synthesis formulation is constructed to satisfy the target pose of the mechanism. We succeeded in synthesizing a 1-DOF RPRP mechanism capable of bidirectional transformation by adjusting the current design methodology to prevent problems in structural analysis at the transition point with a singular configuration.
양방향 변형이 가능한 1 자유도 변형 바퀴 메커니즘의 자율 설계
김중호(Jungho Kim),심정원(Jeong Won Shim),김영수(Youngsoo Kim),김윤영(Yoon Young Kim) 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.11
The 1-DOF (degree of freedom) mechanism has a simple structure and is easy to control, so it is desirable for a mobile robot using a tri-footed wheel to overcome various obstacles. So far, the designs of 1-DOF transformable wheel mechanisms have been mainly limited to simple shape changes between wheel and legs or unidirectional transformation, so they are not stable in overcoming the combined obstacles of climbing and descent. Here, we develop an autonomous synthesis method of a 1-DOF mechanism that can adaptively implement both ascending and descending motions. First, we construct the target motion of the mechanism to satisfy the required climbing performance. Second, the synthesis formulation is constructed to satisfy the target pose of the mechanism. We succeeded in synthesizing a 1-DOF RPRP mechanism capable of bidirectional transformation by adjusting the current design methodology to prevent problems in structural analysis at the transition point with a singular configuration.