Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Deformable Spherical Robot with Two Arms

두 팔을 가지는 변형 가능한 구형로봇

  • 안성수 ((재)대구기계부품연구원) ;
  • 김영민 (경북대학교 IT대학 전자공학부) ;
  • 이연정 (경북대학교 IT대학 전자공학부)
  • Received : 2010.06.21
  • Accepted : 2010.09.23
  • Published : 2010.11.01
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Abstract

In this paper, we present a new type of spherical robot having two arms. This robot, called KisBot, mechanically consists of three parts, a wheel-shaped body and two rotating semi-spheres. In side of each semi-sphere, there exists an arm which is designed based on slider-crank mechanism for space efficiency. KisBot has hybrid types of driving mode: rolling and wheeling. In the rolling mode, the robot folds its arms through inside of itself and uses them as pendulum, then the robot works like a pendulum-driven robot. In the wheeling mode, two arms are extended from inside of the robot and are contacted to the ground, then the robot works like a one-wheel car. The Robot arms can be used as a brake during rolling mode and add friction to the robot for climbing a slope during wheeling mode. We developed a remote controlled type robot for experiment. It contains two DC motors which are located in the center of each semi-sphere for main propulsion, two RC motors for each arm operation, speed controllers for each semi-sphere, batteries for main power source, and other mechanical components. Experiments for the rolling and wheeling mode verify the hybrid driving ability and efficiency of the our proposed spherical robot.

Keywords

Acknowledgement

Supported by : 한국연구재단

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