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다중이동로봇의 동적 모델링 및 구동성능 분석을 통한 새로운 바퀴 배치 제안
신상재(Sang Jae Shin),김한(Haan Kim),김성한(Seong Han Kim),주종남(Chong Nam Chu) Korean Society for Precision Engineering 2013 한국정밀공학회지 Vol.30 No.1
Omni-directional robot is a typical holonomic constraint robot that has three degrees of freedom movement in 2D plane. In this study, a new omni-directional robot whose wheels are arranged in radial directions was proposed to improve driving performance of the robot. Unlike a general omni-directional robot whose wheels were arranged in a circumferential direction, moments do not arises in the proposed robot when the robot travels in a straight line. To analyze driving performance, dynamic modeling of the omni-directional robot, which considers friction and slip, was carried out. By friction measurement experiments, the relationship between dynamic friction coefficient and relative velocity was derived. Dynamic friction coefficient according to the angle difference between robot travel direction and wheel rotation direction was also obtained. By applying these results to the dynamic model, driving performance of the robot was calculated. As a result, the proposed robot was 1.5 times faster than the general robot.