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A New Driving Mechanism to Allow a Rescue Robot to Climb Stairs  

Lim, Sung-Kyun (Dept. of Mechanical Engineering, KAIST)
Park, Dong-II (Dept. of Mechanical Engineering, KAIST)
Kwak, Yoon-Keun (Dept. of Mechanical Engineering, KAIST)
Publication Information
International Journal of Precision Engineering and Manufacturing / v.8, no.3, 2007 , pp. 3-7 More about this Journal
Abstract
There have been numerous studies directed toward the development of driving mechanisms for off-road mobility and rescue robots. To achieve surveillance, reconnaissance, and rescue, it is necessary for robots to have a driving mechanism that can handle off-road environments, We propose a new type of single-track driving mechanism with a variable geometry for a rescue robot, This mechanism has a symmetric configuration so that the robot can advance in two directions and also remain operable when overturned. By transforming its geometry, the robot can reduce energy consumption in steering and rotating as well as maximize its ability to climb obstacles such as stairs. The robot is also designed to have a compact size and low center of gravity to facilitate driving when on a set of stairs. In this paper, we analyzed the design parameters of the robot for the four phases of climbing stairs and determined the specifications needed to enhance its adaptability.
Keywords
Rescue Robot; Variable Geometry Single-Tracked Vehicle; Symmetric Configuration; Transformation; Overturning;
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Times Cited By Web Of Science : 3  (Related Records In Web of Science)
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