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Design of Omnidirectional Shock Absorption Mechanism and Stabilizing Dynamic Posture of Miniature Sphere Type Throwing Robot
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 Title & Authors
Design of Omnidirectional Shock Absorption Mechanism and Stabilizing Dynamic Posture of Miniature Sphere Type Throwing Robot
Jung, Wonsuk; Kim, Young-Keun; Kim, Soohyun;
 
 Abstract
In this paper, we propose a novel compact surveillance throwing robot which has an omnidirectional shock absorption mechanism and an active control part of wheel treads to stabilize the dynamic posture of a miniature sphere type throwing robot. This throwing robot, which weighs 1.14kg and is 110mm in height, is designed in a spherical shape to be easily grabbed for throwing. Also, the omnidirectional shock absorbing aspect is designed using several leaf springs connected with inner and outer wheels. The wheel treads control part consists of a link mechanism. Through the field experiments, this robot is validated to withstand higher than 17Ns of omnidirectional impulse and increase the stabilized max speed three times from 11 rad/s to 33rad/s by increasing wheel treads.
 Keywords
sphere type robot;two-wheel robot;omnidirectional shock absorption;stabilizing dynamic posture;
 Language
Korean
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