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최동규,Choe, Dong-Gyu 대한석유협회 1984 석유와 에너지 Vol.1984 No.6
이 자료는 지난 6월 1일 최동규 동력자원부장관이 연세대학교 행정대학원에서 행한 특별강의 내용을 옮긴 것임. <편집자 주>
최동규,Choe, Dong-Gyu 대한석유협회 1995 석유와 에너지 Vol.1995 No.8
이 자료들은 지난 7월 11일 서울대 호암생활관에서 「한국의 에너지정책의 새로운 좌표설정」의 제목으로 열린 한국에너지 연구회의 연구발표회에서 발표된 내용을 전재한 것이다. <편집자 주>
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.