Proceedings of the KSME Conference (대한기계학회:학술대회논문집)
- 2004.11a
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- Pages.720-724
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- 2004
Variable Geometry Single-Tracked Mechanism for Rescue Robot
구조 로봇에 적합한 가변형 단일 트랙 메커니즘
- Published : 2004.11.03
Abstract
This paper introduces a new type of driving mechanism for rescue robot that has a variable geometry single-track which satisfies the pre-conditions of rescue robot. This mechanism is a symmetric configuration that has dual directions and prepares against overturn. By using transformation, it can reduce the energy consumption in steering and rotating. And also it maximizes the ability to overcome obstacles, like steps. It is designed to make the size of robot compact and to have the low center of gravity in driving on steps. Finally, we optimized the design variables of components determining the shape of reverse-trapezoid frame to enhance the adaptability to 4 phases of climbing steps.
Keywords