The Journal of Korea Robotics Society (로봇학회논문지)
- Volume 2 Issue 4
- /
- Pages.289-296
- /
- 2007
- /
- 1975-6291(pISSN)
- /
- 2287-3961(eISSN)
Flexible Docking Mechanism with Error-Compensation Capability for Auto Recharging System
자동충전 시스템을 위한 오차보정이 가능한 유연한 도킹 메커니즘
- Roh, Se-Gon ;
- Park, Jae-Hoon ;
- Song, Young-Kook ;
-
Yang, Kwang-Woong
;
-
Choi, Moo-Sung
;
-
Kim, Hong-Seok
;
-
Lee, Ho-Gil
;
-
Choi, Hyouk-Ryeol
- 노세곤 (성균관대학교 기계공학부) ;
- 박재훈 (성균관대학교 기계공학부) ;
- 송영국 (성균관대학교 기계공학부) ;
-
양광웅
(한국생산기술연구원)
;
-
최무성
(한국생산기술연구원)
;
-
김홍석
(한국생산기술연구원)
;
-
이호길
(한국생산기술연구원)
;
-
최혁렬
(성균관대학교 기계공학부)
- Published : 2007.12.31
Abstract
The docking and recharging system for a mobile robot must guarantee the ability of the mobile robot to perform its tasks continuously without human intervention. In this paper, two docking mechanisms are proposed with localization error-compensation capability for the auto recharging system. Friction forces or magnetic forces are used between the docking parts of the docking module and those of the docking station. In addition, an auto recharging system is developed to control the power. Since the system is modularized, it can easily be adapted to other robots.