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http://dx.doi.org/10.5392/JKCA.2015.15.05.018

Development of the Multi-stage System with 4 DOF  

Lee, Sang-Won (한국생산기술연구원 융합생산기술연구소 휴먼문화융합그룹)
Won, Daehee (한국생산기술연구원 융합생산기술연구소 휴먼문화융합그룹)
Lee, Sulhee (한국생산기술연구원 융합생산기술연구소 휴먼문화융합그룹)
Publication Information
The Journal of the Korea Contents Association / v.15, no.5, 2015 , pp. 18-26 More about this Journal
Abstract
In this paper, we presented a design and control method of multi-stage with wagon and lift stage. Multi-stage system has 4 degree-of-freedom(DOF), i.e., forward/backward/left/right/rotate and up/down motion. Wagon mechanism in the type of two wheel and steering is proposed in order to improve for the maneuverability compared to the existing differential-type wagons. Also, the lift mechanism is designed by interlocking type in order to make the maximum height bigger than 10 times of the original height. We also proposed a path planning algorithm. The performance of the propped system is validated via multi motion experiments, so that the multi-stage system is useful for various performances production.
Keywords
Wagon; Lift Stage; Multi-Stage; Maneuverability; Omni Direction;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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