개인구독
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지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- Korean Society for Precision Engineering Journal of the Korean Society for Precision Engineering 한국정밀공학회지 Vol.30 No.1
- 발행연도
- 2013.1
- 수록면
- 32 - 38 (7page)
이용수
초록· 키워드
오류제보하기
Small mobile robots which use round wheels are suitable for driving on a flat surface, but it cannot climb the obstacle whose height is greater than the radius of wheels. As an alternative, legged-wheels have been proposed by many researchers due to its better climbing performance. However, driving and climbing performances have a trade-off relationship so that their driving performance should be sacrificed. In this study, in order to achieve both driving and climbing performances, a new transformable wheel was developed. The developed transformable wheel can have a round shape on a flat surface and change its shape into legged-wheel when it makes a contact with an obstacle. For design of the transformable wheel, the performance of leggedwheel was analyzed with respect to the number and curvature of the leg, and then the new transformable wheel was designed based on the analysis. Contrary to the existing transformable wheels that contain additional actuators for the transformation, the developed transformable wheel can be unfolded without any additional actuator. In this study, in order to validate the transformable wheel, a simple robot platform was fabricated. Consequently, it climbed the obstacle whose height is 2.6 times greater than the wheel radius.
목차
1. 서론
2. Legged-wheel 의 설계 인자와 성능 분석
3. Transformable Wheel
4. 결론
참고문헌
참고문헌 (6)
참고문헌 신청
Matsuno, F. / 2004 / Rescue robots and systems in japan / Proceedings of the IEEE Int. Conf. on Robotics and Biomimetics :12~20
Kaspari, M. / 1999 / The size-grain hypothesis and interspecific scaling in ants / Fuctional Ecology 13:530~538
Allen, T. J. / 2003 / Abstracted biological principles applied with reduced actuation improve mobility of legged vehicles / Proceedings of the IEEE Int. Conf. on Intelligent Robots and Systems 2:1370~1375
Moore, E. Z. / 2002 / Realiable stair climbing in the simple hexapod ‘RHex’ / Proceedings of the IEEE Int. Conf. on Robotics and Automation 3:2222~2227
Moore, J. M. / 2003 / Highly mobile and robust small quadruped robots / Proceedings of the IEEE Int. Conf. on Intelligent Robots and Systems 1:82~87
Kaspari, M. / 1999 / The size-grain hypothesis and interspecific scaling in ants / Fuctional Ecology 13:530~538
Allen, T. J. / 2003 / Abstracted biological principles applied with reduced actuation improve mobility of legged vehicles / Proceedings of the IEEE Int. Conf. on Intelligent Robots and Systems 2:1370~1375
Moore, E. Z. / 2002 / Realiable stair climbing in the simple hexapod ‘RHex’ / Proceedings of the IEEE Int. Conf. on Robotics and Automation 3:2222~2227
Moore, J. M. / 2003 / Highly mobile and robust small quadruped robots / Proceedings of the IEEE Int. Conf. on Intelligent Robots and Systems 1:82~87
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