대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)

  • 제40권2호
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  • Pages.157-165
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  • 2016
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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차륜형 견마 로봇의 동역학 해석시간 단축을 위한 단순화 모델

Simplified Model of Wheel Type Dog-Horse Robot to Reduce Dynamic Analysis Time

  • Kim, Young Jin (Dept. of Mechanical Engineering, Pusan Nat'l Univ.) ;
  • Jung, Samuel (Dept. of Mechanical Engineering, Pusan Nat'l Univ.) ;
  • Kim, Tae Yun (Dept. of Mechanical Engineering, Pusan Nat'l Univ.) ;
  • Yoo, Wan Suk (Dept. of Mechanical Engineering, Pusan Nat'l Univ.)
  • 투고 : 2015.08.03
  • 심사 : 2015.12.16
  • 발행 : 2016.02.01
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초록

군용 전투 차량은 전시 상황에 여러 종류의 장애물들이 존재하는 험로를 주행해야 한다. 이런 환경에서는 전투 차량의 무거운 차체와 험로의 큰 장애물로 인해 큰 반력이 발생한다. 차륜형 견마 로봇에는 큰 장애물을 극복하기 위해서 회전형 현가장치가 적용되고, 미끄럼 조향 방식이 적용된다. 본 논문에서는 실시간 해석에 유리하도록 모델을 단순화시킨 방법을 제시하고, 기존 다물체 동역학 모델과 비교를 통해서 신뢰도 및 효율성을 확인하였다.

In wartime conditionsmilitary combat vehicles are required to be driven on rough roads that have significant obstacles. A wheel type dog-horse robot with a rotary suspension system was applied to overcome the obstacles. To achieve real-time analysis, a simplified model was proposed by using velocity transformations. Through comparison with the multi-body dynamics model, the efficiency and accuracy of the proposed modeling was proven.

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참고문헌

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