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http://dx.doi.org/10.7746/jkros.2019.14.3.186

Design of Field-Driving Robot with Variable Wheel Mechanism  

Lee, Joon-Sung (Department of Aerospace Engineering, Chonbuk National University)
Kim, Young-Seok (Department of Aerospace Engineering, Chonbuk National University)
Kim, Kun-Jung (Department of Aerospace Engineering, Chonbuk National University)
Yu, Kee-Ho (Department of Aerospace Engineering, Chonbuk National University)
Publication Information
The Journal of Korea Robotics Society / v.14, no.3, 2019 , pp. 186-190 More about this Journal
Abstract
When problems occurred in the unstable and/or extreme terrain environment, formal field-driving robots were unable to provide any other options such as the transformation of the wheel and body structure, and so on. For such reason, this paper proposed a novel type of integrated wheel mechanism that can be operated as a conventional driving wheel mode and hybrid wheel-leg mode in order to be negotiated in an unstable terrain environment. The mechanical effect of the proposed variable wheel mechanism was analyzed considering the geometric constraint and power requirement of the actuator for the transformation. In addition, we designed and manufactured the prototype of field-driving robot, which reliably control the variable wheel shape. Finally, the effectiveness of the variable wheel mechanism was verified by preliminary experimental approach.
Keywords
Field Robot; Transformable Wheel; Variable Wheel Mechanism;
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