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높은 유효하중 능력과 다양한 벽면전환 능력을 가진 다관절 등반로봇의 개발 및 추종제어
오종균(Jongkyun Oh),이기욱(Giuk Lee),김종원(Jongwon Kim),서태원(TaeWon Seo) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.10
Payload capacity and transition ability are essential for climbing robots to apply the robots to various applications such as inspection and exploration. This paper presents a new climbing robotic platform with multi-link structure of track-wheel modules to enhance payload capacity and transition ability, and its tracking controller design and experimental results. The compliances between track-wheel modules achieve stable internal and external transitions while the large adhesion area of the track-wheel module enhances the payload capacity of the robot. Kinematic model-based tracking controller is designed and implemented for autonomous internal transition, and the gains of the controller are optimized by experimental design. Experiments on the automatic internal transitions are performed and the results guarantee autonomous internal transition with little tracking error.
남성민,오종균,이기욱,김종원,서태원 대한기계학회 2014 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.28 No.12
The control of a robot is optimized to improve its energy efficiency and stability in a geometrically complex environment. For thispurpose, analysis is performed on the dynamic modeling of a multi-body robot that can transition its position on corners where horizontalground and a vertical wall intersect. The robot consists of three bodies that can be attached to the wall by permanent magnetic adhesionand connected by links with two types of compliant joints: a passive type with a torsion spring and an active type with a torque-controlledmotor. A dynamics model is derived using the Lagrangian formulation, and investigated in the case of internal corner. Difficulties in theanalysis of dynamics for this wall-climbing robot came from how to manage external forces. The external forces acting on the wallclimbingrobot result from the wall and the magnets, which change the acting points of the forces. Experiments were conducted to determinethe magnetic force with respect to distance. Simulation was then performed to verify the dynamic model. The obtained dynamicmodel can offer a competent tool for the design and control of the autonomous wall-climbing robot, which can be used for the inspectionof heavy-industry buildings, and oil tanks where the geometrically horizontal surface and the vertical wall intersect.
Analysis method of climbing stairs with the rocker-bogie mechanism
최동규,오종균,김종원 대한기계학회 2013 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.27 No.9
An analysis method to make the rocker bogie mechanism can climb up a stair is achieved in this paper. To verify whether the rocker bogie, with certain lengths of the linkages and radii of the wheels, could climb up a target stair or not, a kinematic analysis and its posture are determined. The trace of the center of mass of the rocker bogie was considered and the situation that three wheels contact the front side of the stair is analyzed. With this two analyses, the stair climbability graph (SCG) determined with the length and the height of a stair was drawn. The SCG shows the climbable stair group for the rocker bogie with certain size. Two prototypes of rocker bogie which has different lengths of linkages were designed and tested on two different stairs. As same result of the SCG, the first prototype rocker bogie with small rocker linkage can climb up the stair (length 450 mm and height 150 mm) but cannot climb up the other stair (length 300 mm and height 175 mm). The second prototype rocker bogie with large rocker linkage can climb up both stairs.