Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Study of a Variable Single-tracked Crawler for Overcoming Obstacles

가변형 단일 궤도를 이용한 장애물 극복방법에 관한 연구

  • 김지홍 (전북대 제어계측공학과) ;
  • 이창구 (전북대 전자공학부 제어로봇)
  • Received : 2009.01.10
  • Accepted : 2010.02.07
  • Published : 2010.04.01
Download PDF
⟨ Previous Next ⟩

Abstract

In our paper, we propose an asymmetric single-tracked wheel system, and describe its structure and the method for maintaining the length of a transformable track system. And the method is reducing the gap of lengths. Therefore, we propose an efficient structure for transforming and explain motions with kinematics. Our transformable shape single-tracked mobile system has an advantage to overcome an obstacle or stairs by the variable arms in the single unity track system. But we will make the variable shape of tracked system get a drive that has a force to stand against a wall. In this case, we can consider this system to a rigid body and have a notice that this single tracked system is able to get vary shape with the variable arm angle. Considering forces balance along x-axis and y-axis, and moments balance around the center of the mass we have. If this rigid body is standing against a wall and doesn't put in motion, the force of flat ground and the rigid body sets an equal by a friction. In the same way, the force of a wall and the rigid sets an equal by a friction.

Keywords

References

  1. 김지홍, 이창구, “단일 궤도를 갖는 가변형 로봇 바퀴구조,” 제어. 로봇. 시스템학회 논문지 제15권 제2호, pp. 198-202, 2009.
  2. J. H. Kim and C. G. Lee, "Mechanism for variable transformation shapes of a single-tracked mobile structure" ADVANCES IN MOBILE ROBOTICS (CLAWAR 2008), p. 752.
  3. J. H. Kim, C. G. Lee, and G. H. Kim, "Study of machine design for a transformable shape single-tracked vehicle system" Mechanical and machine theory 2010.
  4. G. W. Kohler, N. Sleigh, and M. Salaske, "Manipulator vehicle of the nuclear emergency brigade in the federal republic of germany," Proc. of 24th Conf. on Remote System Technology, pp. 196-218, 1976.
  5. Y. Maeda, S. Tsutani, and S. Hagihara, Prototype of Multifunctional Robot Vehicle, ICAR, pp. 421-428, 1985.
  6. T. Iwamoto and H. Yamamoto, Mechanical Design of Variable Configuration Tracked Vehicle, J. of Mechanical Design, vol. 112, pp. 289-294, 1990. https://doi.org/10.1115/1.2912606