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http://dx.doi.org/10.3795/KSME-A.2015.39.3.275

Lumped Track Modeling for Estimating Traction Force of Vecna BEAR Type Robot  

Kim, Tae Yun (School of Mechanical Engineering, Busan Nat'l Univ.)
Jung, Samuel (School of Mechanical Engineering, Busan Nat'l Univ.)
Yoo, Wan Suk (School of Mechanical Engineering, Busan Nat'l Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.39, no.3, 2015 , pp. 275-282 More about this Journal
Abstract
Recently, Vecna BEAR type robot to save injured individuals from inaccessible areas has been developed to minimize the loss of life. Because this robot is driven on rough terrain, there is a risk of rollover and vibration, which could impact the injured. In order to guarantee its stability, an algorithm is required that can estimate the speed limits for various environments in real time. Therefore, a dynamic model for real-time analysis is needed for this algorithm. Because the tracks used as the driving component of Vecna BEAR type robot consist of many parts, it is impossible to analyze the multibody tracks in real time. Thus, a lumped track model that satisfies the requirements of a short computation time and adequate accuracy is required. This study performed lumped track modeling, and the traction force was verified using RecurDyn, which is a dynamic commercial program.
Keywords
Track Modeling; Crawler; Traction Force; Vecna BEAR Type Robot;
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