In this paper, a new driving mechanism of security robots which should overcome obstacles with stability even though moving in high speed is introduced. The driving mechanism has spring-based suspension and two wheels positively necessary to overcome obstacles. From the driving mechanism, it is mainly discussed how we can decrease overshoot and impulse occurred when the robot is in the process of overcoming obstacles. Finally, design parameters of the driving mechanism which guarantees stable motion while overcoming obstacles is deduced based on simulation results. Experiments are also followed to demonstrate how well the manufactured system works in its early stage of the practical use.

• 정해관 | Hae Kwan Jeong
• 고두열 | Doo Yeol Koh
• 우춘규 | Chun Kyu Woo
• 곽윤근 | Yoon Keun Kwak