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[차량운동성능부문] 바퀴형 주행 로봇의 계단 등반 능력 분석
김연훈(Yeon Hoon Kim),장준현(Joonhyun Jang),이청희(Cheong Hee Lee),우춘규(Chun-Kyu Woo),김문상(Mun Sang Kim),곽윤근(Yoon Keun Kwak) 한국자동차공학회 2000 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
The application area of mobile robot is getting wider with the technology. Accordingly mobile robot is needed to use in the rough environment So, it is necessary for mobile robot to be able to navigate and cope with bad conditions when it is placed in rough environment. In this paper, a new type of six-wheeled mobile robot which enable to navigate rough road is developed. Stairs especially among the rough road environment are selected to analyze the ability of overcoming the worst case of stair climbing through the navigation. Since there is no sensor required to discriminate between stairs and floors, the reliability for extreme condition and energy efficiency is high. By these advantages, it will be applicable to reconnaissance and mine detection in military use, and fIre repression and pollution investigation in civil use.
[차량운동성능부문] 가변형상 무한궤도 차량의 링크형 트랙 설계 및 해석
이청희(Cheong Hee Lee),김연훈(Yeon Hoon Kim),우춘규(chun-Kyu Woo),장준현(Joonhyun Jang),김문상(Mun Sang Kim),곽윤근(Yoon Keun Kwak) 한국자동차공학회 2000 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
This paper introduces a link-type track for variable configuration tracked vehicle(VCTV). Many of VCTV have been developed due to the adaptability to the cluttered environment. But Most of VCTV have additional mechanism and power to reconfigure the track according to the environment interacting with the VCTV. We proposed the new link-type VCTV that has the adaptability to the environment but no mechanism attendant on changing the configuration of track. This mechanism has four frames encircled with track and two frames on either side are connected as link structure. The link structure makes the vehicle small with climbing stairs. And the motion of link is determined by external force created when the VCTV contacts the environment. Additionally, we corrected the shape of frame in order to increase wall-climbable friction coefficient range.