The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Approximate Optimization of Suspension Mechanism for Outdoor Security Robot using Response Surface Methodology

반응표면법을 이용한 고속 주행용 실외 경비로봇의 현가장치 근사 최적화

  • 고두열 (KAIST 기계항공시스템학부 기계공학전공) ;
  • 정해관 (연구개발인력교육원 기획연수1팀) ;
  • 우춘규 ((주)다사로봇 지능로봇사업부) ;
  • 김수현 (KAIST 기계항공시스템학부)
  • Received : 2010.02.27
  • Accepted : 2010.05.11
  • Published : 2010.05.31
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Abstract

Security robot has gradually developed and deployed in order to protect civilian's lives as well as fortune and subjugate the shortcomings of CCTV which lacks of mobility. We have developed a security robot for outdoor environment and the main purpose of the driving mechanism is to overcome the bumps or projections with high speed. The robot platform consists of 4 omnidirectional wheel-based driving mechanisms and suspension for each driving mechanism. In this paper, principal suspension parameters of outdoor security robot for overcoming obstacles with stability are studied and approximately optimized using Response Surface Methodology (RSM) since it is difficult to find the exact relationship between suspension parameters and the shock, which is significantly associated with stability of the robot, at the robot platform. Simulation using ADAMS is conducted for assessing the feasibility of optimized design parameters.

Keywords

References

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