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http://dx.doi.org/10.5302/J.ICROS.2014.14.8013

Static Analysis and Experimentation on Obstacle-overcoming for a Novel Field Robotic Platform using Flip Motion  

Seo, ByungHoon (School of Mechanical Engineering, Yeungnam University)
Shin, Myeongseok (School of Mechanical Engineering, Yeungnam University)
Jeong, Kyungmin (Korea Atomic Energy Research Institute)
Seo, TaeWon (School of Mechanical Engineering, Yeungnam University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.10, 2014 , pp. 1067-1072 More about this Journal
Abstract
The ability to overcome obstacles is necessary for field robots for various applications including the ability to climb stairs. While much research has been performed focusing on overcoming obstacles, the resulting robots do not have sufficient ability to overcome obstacles such as stairs. In this research, the purpose is to overcome relatively large obstacles by flipping locomotion through the modification of the stair climbing robotic platform of the previous research. We propose two scenarios to overcome large obstacles: a rear wheel driving system and an elevation system using a ball screw. The research is performed based on static analyses on obstacle-climbing. As the simulation results indicate, we determined the optimal posture of the robot for climbing obstacles for rear wheel driving. Also, an elevation system is analyzed for obstacle climbing. Between the two scenarios an elevation system is determined to reduce the operating torque of the actuator, and the prototype was recently assembled. The climbing ability of the robotic platform is verified. We expect the application area for this robotic platform will be in accident areas of nuclear power plants.
Keywords
static analysis; field robot; field robot platform; overcoming large obstacle; prototype;
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Times Cited By KSCI : 1  (Citation Analysis)
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