Proceedings of the KSME Conference (대한기계학회:학술대회논문집)

The Korean Society of Mechanical Engineers (대한기계학회)
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A Study on the Driving Analysis of Tracked Robot

무한궤도 로봇의 주행 해석에 관한 연구

  • 이상호 (한양대학교 대학원 메카트로닉스공학과) ;
  • 고진석 (한양대학교 기계공학과 기계경영공학부) ;
  • 정연하 (한양대학교 기계공학과 기계경영공학부) ;
  • 신현수 (한양대학교 대학원 기계공학과) ;
  • 김창준 (한양대학교 대학원 기계공학과) ;
  • 이승열 (한양대학교 대학원 기계공학과) ;
  • 한창수 (한양대학교 기계공학과)
  • Published : 2007.05.30
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Abstract

A tracked robot has an excellent mobility on the rough terrain. Especially, a tracked robot for driving has to get structural function in the every field. In this paper, we propose a tracked robot of a small rear wheel typed. Also compared and estimated a driving analysis about the tracked robot in considered the general environment. Compared 2 models are different in size of rear wheels but front wheels are same size each other. From comparing model, the radius of front wheels is 100mm and the radius of rear wheels is 100mm. The radius of front wheels is 100mm and the radius of rear wheels is 70mm from proposed tracked robot. Depend on these radiuses of values we are known driving torque values of an actuating wheel using Recurdyn. And estimated stress of rotated track by an actuating wheel using Ansys. finally, the designed robot has size of $600mm\;{\times}\;330mm\;{\times}\;150mm$, weight is 27kg and the tracked robot is actuated by 2 geared DC motors.

Keywords