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http://dx.doi.org/10.5391/JKIIS.2008.18.3.329

Analysis on Climbing Capability of Wheel Drive Robotic Mechanisms  

Kim, Byoung-Ho (Bio-mimetic Control & Robotics Lab., Div. of Electrical and Mechatronics Eng., Kyungsung Univ.)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.18, no.3, 2008 , pp. 329-334 More about this Journal
Abstract
It is well-known that a kind of wheel drive mechanism is usefully employed in various service robots. One of the essential requirements for such robots is regarded as the capability of climbing that enables them to run on an inclined road smoothly. So, this paper considers the capability of climbing in a wheel drive robotic mechanism and proposes a necessary discriminating condition to determine the specification of a driving actuator which will be employed. Consequently, it is expected that the proposed discriminating condition can be applied to wheel drive robotic mechanisms in the design aspect.
Keywords
Wheel drive robotic mechanism; Climbing capability; Necessary discriminating condition;
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