한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 2006년도 춘계학술대회 논문집
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- Pages.311-312
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- 2006
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- 2005-8446(pISSN)
영구자석 바퀴를 이용한 이동 로봇의 조향 시스템 연구
A Study On Steering System for Mobile Robot with Permanent Magnet Wheels
- Kim Jin-Gak (Mecha. Eng. Dept. YU) ;
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Yi Hwa-Cho
(Mechanical Eng. Dept., YU) ;
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Han Seung-Chul
(Automotive. Eng. Dept. Sangju)
- 발행 : 2006.05.01
초록
In this paper, steering systems for mobile robot with permanent magnet wheels are discussed. The mobile robot with permanent magnet wheels can have three different types of steering and driving configurations; two-wheels, three-wheels, four-wheels. By a Two-WD(Wheel Driving) system, driving and steering characteristics are controlled by ratio of each wheel speeds. Three-WD system is steered by a front wheel and driven by rear wheels. Four-WD system has better stability than two wheel system. Usually the permanent magnet wheel has nearly none slip. Thus turning radius of the mobile robot with three-WD and four-WD System will be increased and the steering and driving system will be complicated. To solve this problem, two magnet wheels with two dummy wheels are used in this study. fuming radius of the developed mobile robot is small and the structure of the robot is simple. It is possible to move forward, backward, to turn left and right, and to rotate freely with two-WD. This study proved that two-WD system is very suitable fur the mobile robot with permanent magnet wheels.