Static analysis and experimentation on obstacle-overcoming for a novel field robotic platform using flip motion

Title
Static analysis and experimentation on obstacle-overcoming for a novel field robotic platform using flip motion
Author(s)
서태원서병훈신명석정경민[정경민]
Keywords
Field robot; Field robotics; Overcoming large obstacle; Prototype; Application area; Flipping locomotion; Obstacle climbing; Overcoming obstacles; Robotic platforms; Static analysis; Motion analysis; Ball screws; Nuclear power plants; Robotics; Robots; Stairs; Static analysis; Wheels
Issue Date
201410
Citation
Journal of Institute of Control, Robotics and Systems, v.20, no.10, pp.1067 - 1072
Abstract
The ability to overcome obstacles is necessary for field robots for various applications including the ability to climb stairs. While much research has been performed focusing on overcoming obstacles, the resulting robots do not have sufficient ability to overcome obstacles such as stairs. In this research, the purpose is to overcome relatively large obstacles by flipping locomotion through the modification of the stair climbing robotic platform of the previous research. We propose two scenarios to overcome large obstacles: a rear wheel driving system and an elevation system using a ball screw. The research is performed based on static analyses on obstacleclimbing. As the simulation results indicate, we determined the optimal posture of the robot for climbing obstacles for rear wheel driving. Also, an elevation system is analyzed for obstacle climbing. Between the two scenarios an elevation system is determined to reduce the operating torque of the actuator, and the prototype was recently assembled. The climbing ability of the robotic platform is verified. We expect the application area for this robotic platform will be in accident areas of nuclear power plants. ? ICROS 2014.
URI
http://hdl.handle.net/YU.REPOSITORY/30581
ISSN
1976-5622
Appears in Collections:
공과대학 > 기계공학부 > Articles
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