대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)

  • 제33권6호
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  • Pages.545-551
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  • 2009
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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복합 바퀴-궤도 메커니즘 기반의 소형 로봇

A Small Robot Based on Hybrid Wheel-Track Mechanism

  • 발행 : 2009.06.01
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초록

A small guard robot working indoors or outdoors can be used to report various information on its environment to an operator. The guard robot should be small-sized and lightweight to increase its portability. In addition, it should be able to overcome a relatively high obstacle to cope with various situations. To satisfy these requirements, this paper presents a small robot equipped with a novel hybrid wheel and track mechanism that can select wheels or tracks depending on the situation. The robot folds the tracks into the body in the wheel mode and only wheels are active with the tracks immobilized, which results in the fast moving speed. In the track mode, the tracks are extended to keep in contact with the ground. Furthermore, this research proposes the belt length maintenance mechanism by which the belt length is kept constant in either the wheel or track mode. Various experiments demonstrate that the proposed robot can move fast by using wheels on the smooth terrain and overcome obstacles by using tracks on the rough terrain.

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참고문헌

  1. Tsukagoshi, H., Sasaki, M., Kitagawa, A. and T. Tanaka, 2005, 'Jumping Robot for Rescue Operation with Excellent Traverse Ability,' IEEE International Conference on Robotics and Automation, pp. 841-848 https://doi.org/10.1109/ICAR.2005.1507505
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  4. Drenner, A., Burt, I., Dahlin, T., Kratochvil, B., McMillen, C., Nelson, B., Papanikolopoulos, N., Rybski, P. E., Stubbs, K., Waletzko, D. and Yesin, K. B., 2002, 'Mobility Enhancements to the SCOUT Robot Platform,' IEEE International Conference on Robotics and Automation, pp. 1069-1074 https://doi.org/10.1109/ROBOT.2002.1013497
  5. Kim, H., Kim, D., Yang, H., Lee, K., Seo, K., Chang, D. and Kim, J., 2008, 'Development of a Wall-Climbing Robot using a Tracked Wheel Mechanism,' Journal of Mechanical Science and Technology, Vol. 22, pp. 1490-1498 https://doi.org/10.1007/s12206-008-0413-x
  6. Kim, D. W., Rho, S. G., Lee, J. S., Lee, H. and Choi, H. R., 2008, 'Development of In-Pipe Robot Using Clutch-Based Selective Driving Algorithm,' Transaction of the KSME (A), Vol. 32, No. 3, pp. 223-231 https://doi.org/10.3795/KSME-A.2008.32.3.223
  7. Kim, K. S., Kim, B. S, Song, J. B. and Kim, E. S., 2008, 'Adjustable Jumping Angle-Height Mechanism for a Jumping Robot,' KSME Annual Spring Meeting, pp. 145-147
  8. Lee, W., Kang, S., Kim, M. and Park, M., 2004, 'ROBHAZ-DT3; Tele-operated Mobile Platform with Passively Adaptive Double-Track for Hazardous Environment Applications,' IEEE International Conference on Intelligent Robots and Systems, pp. 33-38 https://doi.org/10.1109/IROS.2004.1389325
  9. Galileo Mobility Instruments Ltd., http://www.galileo-mobility.com
  10. Michaud, F., Letourneau, D., Arsenault, M., Bergeron, Y., Cadrin, R., Gagnon, F., Legault, M. A., Millette, M., Pare, J. F., Tremblay, M. C., Lepage, P., Morin, Y., Bisson, J. and Caron, S., 2005, 'Multi-Modal Locomotion Robotic Platform Using Leg-Track-Wheel Articulations,' Autonomous Robots, Vol. 18, No. 2, pp.137-156 https://doi.org/10.1007/s10514-005-0722-1

피인용 문헌

  1. Autonomous terrain adaptation and user-friendly tele-operation of wheel-track hybrid mobile robot vol.13, pp.10, 2012, https://doi.org/10.1007/s12541-012-0234-9
  2. Transition mechanism design of a hybrid wheel-track-leg based on foldable rims pp.2041-2983, 2019, https://doi.org/10.1177/0954406219831029