Browse > Article
http://dx.doi.org/10.7746/jkros.2014.9.2.124

Analysis for Stability for Passive Mechanisms of High Speed Mobile Robot on Rough Terrain  

Kim, Youngjin (Mechatronics Engineering, Chungnam National University)
Jeon, Bongsoo (Mechatronics Engineering, Chungnam National University)
Kim, Jayong (Mechatronics Engineering, Chungnam National University)
Lee, Jihong (Mechatronics Engineering, Chungnam National University)
Publication Information
The Journal of Korea Robotics Society / v.9, no.2, 2014 , pp. 124-131 More about this Journal
Abstract
The robot mechanisms that were previously researched had only been conducted for the purpose of overcoming the obstacles stably at low speed driving and enhancing the stability against high speed circuitous driving, and yet, the mechanism satisfying two purposes. However, in order to stably drive with high speed on rough terrain, there is a need for satisfying both of these purposes, as well as testing the efficiency of the mechanisms at high speed driving. There, this paper simulated some of the passive mechanisms and focused on checking the performances of passive mechanisms through simulations and analyzing each mechanism on the basis of an evaluation index. The simulation was conducted by Adams (The Multi-body Dynamics Simulation Solution) and used various types of passive mechanisms which were introduced in the robotics field. As a result, the study confirmed that passive mechanisms have a number of situations that affect the driving stability on each direction of roll and pitch. Further study is needed about active mechanism.
Keywords
rough terrain; passive mechanism; overcoming the obstacles; stability of turning; high speed;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 Kucherenko, Vladimir, Alexei Bogatchev, and Michel Van Winnendael. "Chassis concepts for the ExoMars rover." Proceedings of the 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation, Noordwijk, The Netherlands. 2004
2 Lucet, Eric, et al. "RobuROC6: an experimental platform for a high mobility on challenging terrain.", Istitut des Systemes Intelligents et de Robotique, Robotics 2010
3 Lucet, Eric, et al. "Dynamic yaw and velocity control of the 6wd skid-steering mobile robot roburoc6 using sliding mode technique." Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on. IEEE, 2009.
4 Yoshimi Furukawa , Shoichi Sano, et al, "REAR SUSPESION FOR VEHICLES", United States Patent, Patent Number,4,553,768, Nov,1985.
5 Shinji Kawano, Hiroshi Tonomura, et al., "VEHCLE SUSPENSION",United States Patent, Patent Number, 5,080,389, Jan, 1992.
6 Jeffrey Marshall Lloyd, Auburn Hills, "SURUT SUSPENSION WITH PIVOTING ROCKER ARM", nited States Patent , Patent no, US 7,185,902 B1, Mar,2007
7 De Molina, Simon Anne, and Stefan Deferme. "Passiventi-roll system." U.S. Patent No. 6,102,170. 15 Aug. 2000.
8 De Molina, Simon Anne, and Stefan Deferme. "Passiveanti-roll system." U.S. Patent No. 6,220,406. 24 Apr. 2001.
9 Matsuno, Fumitoshi, and Satoshi Tadokoro. "Rescue robots and systems in Japan." Robotics and Biomimetics, 2004. ROBIO 2004,IEEE International Conference on. IEEE, 2004.
10 J KIm, and J Lee. "Prediction of Maneuverability and Efficiency for a Mobile Robot on Rough Terrain through the development of a Testbed for Analaysis of Robot terrain interaction." Journal of Korea Robotics Society (2013) 8(2):116-128   과학기술학회마을   DOI   ScienceOn
11 Lee, Woosub, et al. "Rough terrain negotiable mobile platform with passively adaptive double-tracks and its application to rescue missions." Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on. IEEE,2005.
12 Kamegawa, Tetsushi, et al. "Development of the snakelike rescue robot.", Robotics and Automation, 2004. Proceedings., ICRA'04. 2004 IEEE International Conference on. Vol. 5. IEEE, 2004.
13 Dongkyu Choi, Seungmin Jung, et al. "The Concept Design of the stable Linkage Mechanism on the Rough Terrain" International Conference on Control, Automation and Systems, ICCAS, 2013.
14 Krebs, Ambroise, et al. "Towards torque control of the CRAB rover."International Symposium on Artificial Intelligence, Robotics and Automation in Space. 2008.
15 Thueer, Thomas, and Roland Siegwart. "Mobility evaluation of wheeled all-terrain robots." Robotics and Autonomous Systems 58.5, 2010.