장애물 극복을 위한 Unmanned Ground Vehicle 플랫폼구조 연구

오연택

논문 상세보기

장애물 극복을 위한 Unmanned Ground Vehicle 플랫폼구조 연구 KCI 등재

Study of Unmanned Ground Vehicle platform to overcome vertical obstacle

오연택

언어KOR
URLhttps://db.koreascholar.com/Article/Detail/305710

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한국기계기술학회지 (Journal of the Korean Society of Mechanical Technology)

제17권 제4호 (2015.08)
pp.729-734

한국기계기술학회 (Korean Society of Mechanical Technology)

초록

There are many researches about UGV mechanism regarding uneven terrains such as mud, sand, gravel, and vertical obstacle. This paper introduces a mobile mechanism to overcome the vertical obstacle for the UGV. Moreover, this paper proposes an asymmetric mechanism of wheels to overcome obstacle. Major system geometry parameters such as will be determined under certain constraints. Several mobile mechanisms will be compared with the proposed system.

키워드

Unmanned Ground Vehicle 무인로봇 Track 트랙 Position Control 자세제어 Double Shaft 이중축 Asymmetric Mechanism 비대칭구조

저자

오연택(Member, Tongmyong Univ.) | Yeon-Taek OH Corresponding Author

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