이동형 로봇의 기구학적 분류에 따른 기술동향

정찬세(Chan Se Jeong),박경택(Kyoung Taik Park),양순용(Soon Yong Yang) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.11

Smart mobile robot is a kind of Intelligent Robot. It means that operates manipulate autonomously and recognize the external environment. Smart mobile robot moving mechanism has many type and the type depend on the robot shape or purpose. Recently, research on the moving mechanism has been actively in many area. The moving mechanism divided to wheel type, crawler type, walking type, other type and the moving type choose by the kind of robot or the purpose robot. In this paper, describe the kind of moving mechanism on the smart mobile robot and the technical trend of moving mechanism of smart mobile robot.

AnyClimb-II: Dry-adhesive linkage-type climbing robot for uneven vertical surfaces

Liu, Yanheng,Seo, TaeWon Elsevier 2018 Mechanism and machine theory Vol.124 No.-

<P><B>Abstract</B></P> <P>Vertical wall surfaces with obstacles present a serious challenge for wall-climbing robots. Owing to their limitations in overcoming obstacles, these types of robots have not been commercialized yet. Several ideas on novel designs and precise control have been suggested; however, further research is required to achieve enhanced robot capabilities in overcoming obstacles. Specifically, the use of dry adhesive methods by wall-climbing robots to climb over obstacles present tremendous challenges. This study introduces the design of a new linkage-type, wall-climbing robot, based on dry adhesion, for uneven vertical surfaces. Based on a four-bar mechanism, repeated walking is achieved via a single actuator. The robot's most important feature is the linkage design used for climbing over obstacles, which has been adopted from rover running patterns. The symmetric linkage design renders the robot adaptable to uneven surfaces with a compliant motion. Additionally, flat dry adhesives were used for the attachment mechanism. The design parameters were determined based on kinematic and static analyses, and certain important issues in linkage-type wall-climbing robot designs were addressed. The robot's performance was verified using experiments, whereby it was able to climb up and go down stairs with maximum stair heights of 15 mm (equal to 0.6% of the robot's height) during open-loop vertical walking. We expect that the linkage design can extend the accessible area of the wall-climbing robot.</P> <P>This study introduces the design of a new linkage-type, wall-climbing robot, based on dry adhesion, for uneven vertical surfaces. Based on a four-bar mechanism, repeated walking is achieved via a single actuator. The robot's most important feature is the linkage design used for climbing over obstacles, which has been adopted from rover running patterns. The symmetric linkage design renders the robot adaptable to uneven surfaces with a compliant motion. Additionally, flat dry adhesives were used for the attachment mechanism. The design parameters were determined based on kinematic and static analyses, and certain important issues in linkage-type wall-climbing robot designs were addressed. The robot's performance was verified using experiments, whereby it was able to climb up and go down stairs with maximum stair heights of 15 mm (equal to 0.6% of the robot's height) during open-loop vertical walking. We expect that the linkage design can extend the accessible area of the wall-climbing robot.</P> <P><B>Highlights</B></P> <P> <UL> <LI> Linkage design of a dry-adhesive wall-climbing robot for obstacle overcoming is proposed. </LI> <LI> Four-bar linkages are used for walking and adaptation. </LI> <LI> Compliant four-bar linkage is used to adapt on uneven surfaces autonomously. </LI> <LI> Single actuator is used for all locomotion such as walking and adapting on uneven surfaces. </LI> <LI> Kinematic and static analyses, and experimental results proves the reliability of the design. </LI> </UL> </P>

가변 가반하중을 포함하는 로봇의 필요토크 최소화를 위한 스프링 기반 가변 자중보상 메커니즘의 설계

김휘수,배명수,박찬훈,김두형,경진호,도현민,박동일,최태용,송성혁 제어·로봇·시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.12

. Recently, with the increasing requirement of human-robot cooperation, robot safety has become an important issue in the robotics field. Counterbalance mechanisms were proposed as a solution to address this problem as it can ensure intrinsic safety and minimize the required torque of the actuators. However, previous counterbalance mechanisms were designed to compensate for the gravitational torque generated due to the weight of robots. Therefore, actuators should be selected to provide sufficient torque to support the payload. In this study, we propose a variable counterbalance mechanism for counterbalance mechanism improvement. The proposed mechanism can adjust the counterbalancing torque according to the weight of the payload attached at the end effector of the robot arm, such as a tool, gripper, or grasped object. Therefore, the torque required to support not only the self-weight of the robot arm but also any additional external load can be compensated effectively using the proposed variable counterbalance mechanism. Moreover, a 1 degree-of-freedom variable counterbalance arm was constructed to verify the effectiveness of the proposed mechanism. Various simulations and experimental results showed that the proposed variable counterbalance mechanism can effectively decrease the torque required to support the robot mass and payload. Hence, low-capacity actuators can be used for designing robots with desired specifications (e.g., maximum payload and repeatability) and safety.

로봇 어깨를 위한 롤 관절 구동 메커니즘 설계 및 특성 분석

김병호 한국지능시스템학회 2019 한국지능시스템학회논문지 Vol.29 No.2

This paper presents a roll joint drive mechanism to effectively implement the adduction and abduction motions of a robot arm, and analyses the torque characteristics of the drive motor required for such a mechanism. The roll joint drive mechanism is composed of a lever mechanism, a ball screw and a drive actuator, and thus, when dealing with an object, it is possible to drive the load required for the adduction or abduction motion of the robot arm by using a relatively small capacity motor. To show the usefulness of the roll joint drive mechanism, we perform an exemplary roll motion simulation and analyse the torque characteristics both in the roll joint space and the drive motor space. Consequently, the specified roll joint drive mechanism can be applied to a shoulder mechanism of industrial or humanoid robot arms. 본 논문에서는 로봇 팔의 내전과 외전 운동을 효과적으로 구현하기 위한 롤 관절 구동 메커니즘을 제시하고, 이러한메커니즘을 위해 요구되는 구동 모터의 토오크 특성을 분석한다. 이러한 롤 관절 구동 메커니즘은 레버 메커니즘과 볼 나사및 구동 액츄에이터로 구성되며, 궁극적으로 물체를 다룰 때 요구되는 로봇 팔의 롤 관절 부하를 비교적 작은 용량의 모터를사용하여 구동하는 것이 가능하다. 제시된 롤 관절 구동 메커니즘의 유용성을 보이기 위하여 일반적인 롤 운동 시뮬레이션을수행하며, 롤 관절 공간과 원격 구동 모터 공간에서의 토오크 특성을 비교분석한다. 결론적으로, 제시된 롤 관절 구동메커니즘은 산업용 로봇 팔이나 인간형 로봇 팔의 어깨 메커니즘에 유용하게 활용될 수 있다.

Mechanism and Base Control of Human-Friendly Robot with Passive Collision Force Suppression Mechanism

Shunsuke Kumagai,Koki Matsumoto,Atsuo Takanishi,Hun-ok Lim 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10

This paper describes the mechanism of a human-friendly robot. The robot consists of two arms, a body and a mobile base. An air cushion bag is developed to cover the entire exterior of the robot. It can reduce the generated impact forces in a collision between any part of the robot and a human. A passive collision suppression mechanism is also developed to deal with greater impact forces. The suppression mechanism is installed in the pitch axis of the elbow and the yaw axis of the waist. The base consists of four omnidirectional wheels, enabling movement in any direction. Moreover, the control method for the base is discussed in this study. Using the robot, collision experiments are conducted and the effectiveness of the robot mechanism and the control method is verified.

가변길이 엔드팁을 갖는 원추형 스프링을 이용한 도약로봇의 이동성 향상

김기석(Ki-Seok Kim),김병상(Byeong-Sang Kim),송재복(Jae-Bok Song),임충혁(Chung Hyuk Yim) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.11

Mobility is one of the most important features for a guard robot since it should be operated in rough places. A wheel-based mobile robot capable of jumping is an appropriate structure for a guard robot because it can easily satisfy the requirements for small guard robots. The jumping robot can reach a higher place more rapidly than other locomotion methods. This research proposes a small robot equipped with the jumping mechanism based on the conical spring with the variable length endtip, The variable length endtip enables the independent control of the jump force and jump angle which are related to the jump height and jump distance, respectively. Various experiments demonstrated that the proposed jumping mechanism can provide the independent control of jump force and jump angle, and improve the mobility of a small robot to overcome an obstacle. Furthermore, a combination of the jumping mechanism and the PSD sensor to measure the distance to the step enable the jumping robot to autonomously climb stairs.

Compensation Control Method Using Neural Network for Mechanical Deflection Error in SCARA Robot with Random Payload

Jong Shin, Lee 한국기계기술학회 2011 한국기계기술학회지 Vol.13 No.3

This study proposes the compensation method for the mechanical deflection error of a SCARA robot. While most studies on the related subject have dealt with the development of a control algorithm for improvement of robot accuracy, this study presents the control method reflecting the mechanical deflection error which is predicted in advance. The deflection at the end of the gripper of SCARA robot is caused by the self-weights and payloads of Arm 1, Arm 2 and quill. If the deflection is constant even though robot’ posture and payload vary, there may not be a big problem on robot accuracy because repetitive accuracy, that is relative accuracy, is more important than absolute accuracy in robot. The deflection in the end of the gripper varies as robot’ posture and payload change. That’ why the moments ,  and  working on every joint of a robot vary with robot’ posture and payload size. This study suggests the compensation method which predicts the deflection in advance with the variations in robot’ posture and payload using neural network. To do this, I chose the posture of robot and the payloads at random, found the deflections by the FEM analysis, and then on the basis of this data, made compensation possible by predicting deflections in advance successively with the variations in robot’ posture and payload through neural network learning.

4족 병렬기구 보행로봇의 능수능란성에 관한 연구

김치효(Chi Hyo Kim),김성주(Sung Joo Kim),박근우(Kun Woo Park),김태성(Tae Sung Kim),이민기(Min Ki Lee) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.10

This paper analyzes the dexterity of a four legged parallel walking robot. Topology design is conducted for a leg mechanism composed of four legs, base and ground, which constitute a redundant parallel mechanism. This mechanism is subdivided to four sub-mechanism composed of three legs. A motor vector is adopted to determine the 6x8 Jacobian of the redundant parallel mechanism and the 6x6 Jacobian of the sub-mechanisms, respectively. The condition number of the Jacobian matrices is used as an index to measure a dexterity. We analyze the condition numbers of the Jacobians over the positional walking space and the orientational walking space. The analysis shows that a sub-mechanism has lots of singularities within workspace but they are removed by a redundant parallel mechanism improving a dexterity. From the results, we can propose a parallel typed walking robot to enlarge walking space and stability region. The robot is designed by inserting an intermediate mechanism between upper and lower leg mechanisms. The robot is reasonably small so that it can climb from a floor to a wall.

SPIRA: Screw Wheel-Based Mobile Robot for Switching Primitives

ChangKook Seo,DongHan Son,KyungUk Lee,KyoungMin Ko,JongMyeong Lee,TaeWon Seo 한국정밀공학회 2024 International Journal of Precision Engineering and Vol.25 No.2

In this study, we propose a novel movement mechanism for a mobile robot that combines screw-based and general wheel-based mechanisms via switching. As mobile robots developed, their areas of activity gradually expanded to environments including rough terrain such as granular surfaces. Accordingly, the need for a suitable movement mechanism in an environment in which a general rigid surface and a granular surface are combined has increased. To address the limitations of existing movement mechanisms, we develop a switching mechanism that combines a screw-based wheel mechanism that is optimized for rough terrain with general rigid-surface-based mechanisms that exhibit good driving performance. The two individual mechanisms are configured to be used according to the external environment using a switching mechanism. The validity of the proposed mechanism is verified through experiments conducted in a realistic setting using mobile robots. Experimental results show that granular surfaces that cannot be traversed using conventional wheels can be overcome through screw-based wheels through switching mechanisms. In summary, a switching mechanism combining screw-based wheels and normal wheels is presented as a movement mechanism capable of multi-locomotion not only on rough terrain but also on flat land.

A Compensation Control Method Using Neural Network for Mechanical Deflection Error in SCARA Robot with Random Payload

이종신 한국기계기술학회 2011 한국기계기술학회지 Vol.13 No.3

This study proposes the compensation method for the mechanical deflection error of a SCARA robot. While most studies on the related subject have dealt with the development of a control algorithm for improvement of robot accuracy, this study presents the control method reflecting the mechanical deflection error which is predicted in advance. The deflection at the end of the gripper of SCARA robot is caused by the self-weights and payloads of Arm 1, Arm 2 and quill. If the deflection is constant even though robot’s posture and payload vary, there may not be a big problem on robot accuracy because repetitive accuracy, that is relative accuracy, is more important than absolute accuracy in robot. The deflection in the end of the gripper varies as robot’s posture and payload change. That’s why the moments M_x , M_y and M_z working on every joint of a robot vary with robot’s posture and payload size. This study suggests the compensation method which predicts the deflection in advance with the variations in robot’s posture and payload using neural network. To do this, I chose the posture of robot and the payloads at random, found the deflections by the FEM analysis, and then on the basis of this data, made compensation possible by predicting deflections in advance successively with the variations in robot’s posture and payload through neural network learning