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http://dx.doi.org/10.20910/JASE.2017.11.6.26

Design of a Transformable Spherical Robot Based on Multi-Linkage Structure  

Kang, Hyeongseok (Dept. of Aerospace and Mechanical Engineering, Korea Aerospace Univ.)
Joe, Seonggun (School. of Aerospace and Mechanical Engineering, Korea Aerospace Univ.)
Lee, Dongkyu (School. of Aerospace and Mechanical Engineering, Korea Aerospace Univ.)
Kim, Byungkyu (Dept. of Aerospace and Mechanical Engineering, Korea Aerospace Univ.)
Publication Information
Journal of Aerospace System Engineering / v.11, no.6, 2017 , pp. 26-33 More about this Journal
Abstract
We propose a variable frame structure connected with telescopic mast-shaped shaft for a robot displaying outstanding ability to cross obstacles, and for effective traction control. The wireless control system was built to extend and contract a deployable mechanism, which is shaped into a hoberman sphere assembled with frame structures. In order to develop important parameters for efficient locomotion, we derived an Euler-Lagrange equation for the spherical robot. According to the equation, the DC motor was selected. A prototype mechanism was tested and a Finite-Element Analysis (FEA) was conducted in parallel. Using these data, we constructed a deployable spherical robot with structural stability. The deployable robot moved at a speed of 0.85 m/s from 520 mm to 650 mm.
Keywords
Spherical Robot; Extension·Contraction Mechanism; Frame Structure;
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