한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제30권1호
  • /
  • Pages.47-52
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  • 2013
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
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복합 재료와 형상 기억 합금 코일 스프링 구동기를 이용한 유연하게 변형 가능한 바퀴 로봇의 설계 및 제작

Design and Fabrication of Soft Deformable Wheel Robot using Composite Materials and Shape Memory Alloy Coil Spring Actuators

  • 고제성 (서울대학교 기계항공공학부) ;
  • 이대영 (서울대학교 기계항공공학부) ;
  • 김지석 (서울대학교 기계항공공학부) ;
  • 김승원 (서울대학교 기계항공공학부) ;
  • 조규진 (서울대학교 기계항공공학부)
  • Koh, Je-Sung (Department of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.) ;
  • Lee, Dae-Young (Department of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.) ;
  • Kim, Ji-Suk (Department of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.) ;
  • Kim, Seung-Won (Department of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.) ;
  • Cho, Kyu-Jin (Department of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.)
  • 투고 : 2012.11.12
  • 심사 : 2012.11.20
  • 발행 : 2013.01.01
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초록

In order to operate a search and rescue robot in hazardous area, the robot requires high mobility and adaptable locomotion for moving in unpredictable environments. In this paper, we propose the deformable soft wheel robot that can produce three kinds of driving modes; caterpillar driving mode, normal wheel driving mode, legged-wheel driving mode. The robot changes its driving mode as it faces the various obstacles such as a small gap, stairs etc. Soft film and composite materials are used for fabrication of deformable wheel structure and Shape Memory Alloy (SMA) coil spring actuators are attached on the structure as an artificial muscle. Film lamination and an composite manufacturing process is introduced and the robot design is required to be modified and compromised to applying the manufacturing process. The prototype is developed and tested for verifying feasibility of the deformable wheel locomotion.

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참고문헌

  1. Koh, J., Lee, D., Kim, S., and Cho, K., "Deformable soft wheel robot using hybrid actuation," Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and System, 2012.
  2. Saranli, U., Buehler, M., and Koditschek, D., "RHex: A Simple and Highly Mobile Hexapod Robot," The International Journal of Robotics Research, Vol. 20, No. 7, pp. 616-631, 2001. https://doi.org/10.1177/02783640122067570
  3. Shepherd, R., Ilievski, F., Choi, W., Morin, S., Stokes, A., Mazzeo, A., Chen, X., Wang, M., and Whitesides, G., "Multigait Soft Robot," PNAS, Vol. 108, No. 51, pp. 20400-20403, 2011. https://doi.org/10.1073/pnas.1116564108
  4. Cianchetti, M., Arienti, A., Follador, M., Mazzolai, B., Dario, P., and Laschi, C., "Design concept and validation of a robotic arm inspired by the octopus," Materials Science and Engineering: C, Vol. 31, No. 6, pp. 1230-1239, 2011. https://doi.org/10.1016/j.msec.2010.12.004
  5. Koh, J. S., Kim, S. W., Oh, I. C., Song, S. H., Ahn, S. H., and Cho, K. J., "Hybrid Actuating System Based Morphing Robot For Disaster Area Exploration," Proc. of KSPE Spring Conference, pp. 793-794, 2011.
  6. Koh, J. S., Lee, D. Y., Kim, S. W., and Cho, K. J., "Design and Fabrication of Composite Sheet Spoke for Torque Transmission of Small Scale Morphing Wheel," Proc. of KSPE Spring Conference, pp. 561-562, 2012.