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      KCI등재 SCIE

      A New Driving Mechanism to Allow a Rescue Robot to Climb Stairs

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      https://www.riss.kr/link?id=A76281893

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      다국어 초록 (Multilingual Abstract)

      There have been numerous studies directed toward the development of driving mechanisms for off-road mobility and rescue robots. To achieve surveillance, reconnaissance, and rescue, it is necessary for robots to have a driving mechanism that can handle off-road environments. We propose a new type of single-track driving mechanism with a variable geometry for a rescue robot. This mechanism has a symmetric configuration so that the robot can advance in two directions and also remain operable when overturned. By transforming its geometry, the robol can reduce energy consumption in steering and rotating as well as maximize its ability to climb obstacles such as stairs. The robot is also designed to have a compact size and low center of gravity to facilitate driving when on a set of stairs. In this paper, we analyzed the design parameters of the robot for the four phases of climbing stairs and determined the specifications needed to enhance its adaptability.
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      There have been numerous studies directed toward the development of driving mechanisms for off-road mobility and rescue robots. To achieve surveillance, reconnaissance, and rescue, it is necessary for robots to have a driving mechanism that can handle...

      There have been numerous studies directed toward the development of driving mechanisms for off-road mobility and rescue robots. To achieve surveillance, reconnaissance, and rescue, it is necessary for robots to have a driving mechanism that can handle off-road environments. We propose a new type of single-track driving mechanism with a variable geometry for a rescue robot. This mechanism has a symmetric configuration so that the robot can advance in two directions and also remain operable when overturned. By transforming its geometry, the robol can reduce energy consumption in steering and rotating as well as maximize its ability to climb obstacles such as stairs. The robot is also designed to have a compact size and low center of gravity to facilitate driving when on a set of stairs. In this paper, we analyzed the design parameters of the robot for the four phases of climbing stairs and determined the specifications needed to enhance its adaptability.

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      목차 (Table of Contents)

      • 1. Introduction
      • 2. Driving Mechanism
      • 3. Specific Design
      • 4. Tests
      • 5. Conclusions
      • 1. Introduction
      • 2. Driving Mechanism
      • 3. Specific Design
      • 4. Tests
      • 5. Conclusions
      • REFERENCES
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      참고문헌 (Reference)

      1 "Survey on Urban Search and Rescue Robots" 22 (22): 40-44, 2004

      2 "Stabilization of a Mobile robot Climbing Stairs Proceedings of the IEEE International Conference on Robotics and Automation" 2501-2507, 1994

      3 "Prototype of multifunctional robot vehicle" 421-428, 1985

      4 "Mechanical Design of Variable Configuration Tracked Vehicle Journal of Mechanical Design" 289-294, 1990

      5 "Manipulator Vehicle of the Nuclear Emergency Brigade in the Federal Republic of Germany" 196-2181976

      6 "Double-track mobile robot for hazardous environment applications" 17 (17): 447-459, 2003.06

      7 "Development of Hi-Grip Crawler using a Deformation of Powder" 15 (15): 92-97, 1997

      8 "Autonomous Urban Robotic Reconnaissance System" 3 : 2315-2321, 1999

      1 "Survey on Urban Search and Rescue Robots" 22 (22): 40-44, 2004

      2 "Stabilization of a Mobile robot Climbing Stairs Proceedings of the IEEE International Conference on Robotics and Automation" 2501-2507, 1994

      3 "Prototype of multifunctional robot vehicle" 421-428, 1985

      4 "Mechanical Design of Variable Configuration Tracked Vehicle Journal of Mechanical Design" 289-294, 1990

      5 "Manipulator Vehicle of the Nuclear Emergency Brigade in the Federal Republic of Germany" 196-2181976

      6 "Double-track mobile robot for hazardous environment applications" 17 (17): 447-459, 2003.06

      7 "Development of Hi-Grip Crawler using a Deformation of Powder" 15 (15): 92-97, 1997

      8 "Autonomous Urban Robotic Reconnaissance System" 3 : 2315-2321, 1999

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      학술지 이력

      학술지 이력
      연월일 이력구분 이력상세 등재구분
      2023 평가예정 해외DB학술지평가 신청대상 (해외등재 학술지 평가)
      2020-01-01 평가 등재학술지 유지 (해외등재 학술지 평가) KCI등재
      2011-01-01 평가 등재학술지 유지 (등재유지) KCI등재
      2009-01-01 평가 등재학술지 유지 (등재유지) KCI등재
      2008-06-23 학회명변경 영문명 : Korean Society Of Precision Engineering -> Korean Society for Precision Engineering KCI등재
      2006-01-01 평가 등재학술지 선정 (등재후보2차) KCI등재
      2005-05-30 학술지명변경 한글명 : 한국정밀공학회 영문논문집 -> International Journal of the Korean of Precision Engineering KCI등재후보
      2005-05-30 학술지명변경 한글명 : International Journal of the Korean of Precision Engineering -> International Journal of Precision Engineering and Manufacturing
      외국어명 : International Journal of the Korean of Precision Engineering -> International Journal of Precision Engineering and Manufacturing
      KCI등재후보
      2005-01-01 평가 등재후보 1차 PASS (등재후보1차) KCI등재후보
      2003-07-01 평가 등재후보학술지 선정 (신규평가) KCI등재후보
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      학술지 인용정보

      학술지 인용정보
      기준연도 WOS-KCI 통합IF(2년) KCIF(2년) KCIF(3년)
      2016 1.38 0.71 1.08
      KCIF(4년) KCIF(5년) 중심성지수(3년) 즉시성지수
      0.92 0.85 0.583 0.11
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