Journal of Aerospace System Engineering (항공우주시스템공학회지)

The Society for Aerospace System Engineering (항공우주시스템공학회)
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Design of a Transformable Spherical Robot Based on Multi-Linkage Structure

복합 링크 구조 기반의 가변형 구형로봇 설계

  • Kang, Hyeongseok (Dept. of Aerospace and Mechanical Engineering, Korea Aerospace Univ.) ;
  • Joe, Seonggun (School. of Aerospace and Mechanical Engineering, Korea Aerospace Univ.) ;
  • Lee, Dongkyu (School. of Aerospace and Mechanical Engineering, Korea Aerospace Univ.) ;
  • Kim, Byungkyu (Dept. of Aerospace and Mechanical Engineering, Korea Aerospace Univ.)
  • 강형석 (한국항공대학교 항공우주 및 기계공학부) ;
  • 조성건 (한국항공대학교 항공우주 및 기계공학과) ;
  • 이동규 (한국항공대학교 항공우주 및 기계공학과) ;
  • 김병규 (한국항공대학교 항공우주 및 기계공학부)
  • Received : 2017.10.19
  • Accepted : 2017.11.20
  • Published : 2017.12.31
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Abstract

We propose a variable frame structure connected with telescopic mast-shaped shaft for a robot displaying outstanding ability to cross obstacles, and for effective traction control. The wireless control system was built to extend and contract a deployable mechanism, which is shaped into a hoberman sphere assembled with frame structures. In order to develop important parameters for efficient locomotion, we derived an Euler-Lagrange equation for the spherical robot. According to the equation, the DC motor was selected. A prototype mechanism was tested and a Finite-Element Analysis (FEA) was conducted in parallel. Using these data, we constructed a deployable spherical robot with structural stability. The deployable robot moved at a speed of 0.85 m/s from 520 mm to 650 mm.

본 연구에서는 외골격 크기를 변화하여 효과적으로 구동력을 조절하고 우수한 장애물 통과능력을 가진 구형로봇을 구현하였다. 호버만구를 외골격으로 채택하고 슬라이더-크랭크 구조의 확대 수축 메커니즘을 설계하여 무선으로 로봇의 크기변화와 이동제어가 가능하도록 제어시스템을 구축하였다. 로봇의 효율적인 구동에 필요한 주요 변수를 확인하기 위하여 오일러-라그랑주 운동방정식을 세워 해석하였고, 이를 바탕으로 DC 모터를 선정하였다. 로봇의 성능을 평가하기 위해 Prototype 의 기초 구동실험을 진행함과 동시에 유한요소 해석을 통해 구조적 안정성을 보완한 최종 모델을 제작하였다. 결과적으로, 외경 기준 최대 650 mm 에서 최소 520 mm 까지 수축/팽창이 가능한 로봇이 0.85 m/s로 주행이 가능한 것을 확인하였다.

Keywords

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