The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Analysis for Stability for Passive Mechanisms of High Speed Mobile Robot on Rough Terrain

야지 고속 주행 로봇을 위한 패시브 메커니즘의 안정성 비교 분석

  • Kim, Youngjin (Mechatronics Engineering, Chungnam National University) ;
  • Jeon, Bongsoo (Mechatronics Engineering, Chungnam National University) ;
  • Kim, Jayong (Mechatronics Engineering, Chungnam National University) ;
  • Lee, Jihong (Mechatronics Engineering, Chungnam National University)
  • Received : 2014.02.28
  • Accepted : 2014.04.17
  • Published : 2014.05.28
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Abstract

The robot mechanisms that were previously researched had only been conducted for the purpose of overcoming the obstacles stably at low speed driving and enhancing the stability against high speed circuitous driving, and yet, the mechanism satisfying two purposes. However, in order to stably drive with high speed on rough terrain, there is a need for satisfying both of these purposes, as well as testing the efficiency of the mechanisms at high speed driving. There, this paper simulated some of the passive mechanisms and focused on checking the performances of passive mechanisms through simulations and analyzing each mechanism on the basis of an evaluation index. The simulation was conducted by Adams (The Multi-body Dynamics Simulation Solution) and used various types of passive mechanisms which were introduced in the robotics field. As a result, the study confirmed that passive mechanisms have a number of situations that affect the driving stability on each direction of roll and pitch. Further study is needed about active mechanism.

Keywords

References

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  1. 이동 로봇의 서스펜션 댐핑계수 변화에 따른 장애물이 있는 경사로 주행에 관한 연구 vol.11, pp.2, 2016, https://doi.org/10.7746/jkros.2016.11.2.083