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
- 발행연도
- 2014.6
- 수록면
- 124 - 131 (8page)
이용수
초록· 키워드
오류제보하기
The robot mechanisms that were previously researched had only been conducted for the purpose of overcoming the obstacles stably at low speed driving and enhancing the stability against high speed circuitous driving, and yet, the mechanism satisfying two purposes. However, in order to stably drive with high speed on rough terrain, there is a need for satisfying both of these purposes, as well as testing the efficiency of the mechanisms at high speed driving. There, this paper simulated some of the passive mechanisms and focused on checking the performances of passive mechanisms through simulations and analyzing each mechanism on the basis of an evaluation index. The simulation was conducted by Adams (The Multi-body Dynamics Simulation Solution) and used various types of passive mechanisms which were introduced in the robotics field. As a result, the study confirmed that passive mechanisms have a number of situations that affect the driving stability on each direction of roll and pitch. Further study is needed about active mechanism.
목차
Abstract
1. 서론
2. 메커니즘 분석을 위한 시뮬레이션 환경
3. 시뮬레이션 결과 비교 분석
4. 결론
References
참고문헌 (15)
참고문헌 신청
1. [학술대회논문] - Matsuno, Fumitoshi / 2004 / Rescue robots and systems in Japan / Robotics and Biomimetics, 2004. ROBIO 2004,IEEE International Conference on. IEEE
2. [학술지(정기간행물)] - 김자영 / 2013 / 지형-로봇간의 상호작용 분석 장치의 개발을 통한 야지 주행 로봇의 기동성 및 효율성 예측 / 로봇학회 논문지 8 (2) : 116 ~ 128
4. [학술대회논문] - Kamegawa, Tetsushi / 2004 / Development of the snakelike rescue robot / Robotics and Automation, 2004. Proceedings., ICRA'04. 2004 IEEE International Conference on 5
5. [학술대회논문] - Dongkyu Choi / 2013 / The Concept Design of the stable Linkage Mechanism on the Rough Terrain / International Conference on Control, Automation and Systems, ICCAS
6. [학술대회논문] - Krebs, Ambroise / 2008 / Towards torque control of the CRAB rover / International Symposium on Artificial Intelligence, Robotics and Automation in Space
2. [학술지(정기간행물)] - 김자영 / 2013 / 지형-로봇간의 상호작용 분석 장치의 개발을 통한 야지 주행 로봇의 기동성 및 효율성 예측 / 로봇학회 논문지 8 (2) : 116 ~ 128
4. [학술대회논문] - Kamegawa, Tetsushi / 2004 / Development of the snakelike rescue robot / Robotics and Automation, 2004. Proceedings., ICRA'04. 2004 IEEE International Conference on 5
5. [학술대회논문] - Dongkyu Choi / 2013 / The Concept Design of the stable Linkage Mechanism on the Rough Terrain / International Conference on Control, Automation and Systems, ICCAS
6. [학술대회논문] - Krebs, Ambroise / 2008 / Towards torque control of the CRAB rover / International Symposium on Artificial Intelligence, Robotics and Automation in Space
이 논문의 저자 정보
최근 본 자료
댓글(0)
0
UCI(KEPA) : I410-ECN-0101-2020-559-001258299