The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Omni-directional Mobile Robot for 2D Translation and Rotation of a Puppet using Magnet

줄 인형의 2차원 이동 및 회전을 위한 자석기반 전 방향 로봇시스템

  • 김병열 (숭실대 대학원 전자공학과) ;
  • 한영준 (숭실대 정보통신전자공학부) ;
  • 한헌수 (숭실대학교 정보통신전자공학부)
  • Received : 2010.07.21
  • Accepted : 2010.11.11
  • Published : 2010.11.30
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Abstract

Marionette controlling robot has a problem that generates interference in rotation and intersection, therefore, the research on the independent shifter to move freely on the stage is required. Connecting omni-directional mobile robot with marionette controlling robot can solve this problem. Omni-directional mobile robot makes itself rotate and translate in 2D plane freely. Magnetic device is used to connect the moving part with the control part of the robot to minimize the intereference generated by the movement of robot. When robot moves, it can move to all directions with the suitalbe setting of banlance power. The moment of inertia is minimized by dividing the robot to the upper and lower parts in the marionette performance stage. Rotation and interference problem of independent omni-wheel Robot can be solved by using the permanent magnet. The efficiency and safety of the marionette controlling robot is proved by the experiment.

Keywords

References

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