Undenatured castor oil and trimethylolpropane (TMP) were used to obtain bio-based water-based polyurethane. Isophorone diisocyanate (IPDI) was incorporated into the formulation to obtain a transparent film, and ethylenediamine (EDA) was used for chain extension. In order to measure the change in physical properties according to the contents of castor oil and TMP, each tensile strength, elongation, and abrasion resistance test was conducted. As the contents of castor oil and TMP increased, the tensile strength increased, the elongation decreased, and the surface hardened strongly as the respective contents increased.

피마자 기반 수성 폴리우레탄(CPUD)을 얻기 위해 무 변성 피마자유 (CO) 와 투명 필름을 얻기 위해 이소포론 디이소시아네이트(IPDI)를 사용했다. 유연성을 증가시키기 위해 폴리프로필렌글리콜 (PPG)의 혼합 효과를 분석하였다. 또한, 사슬연장제로 에틸렌다이아민(EDA)을 사용했다. 각각 피마자유 함유에 따른 변화와 사슬연장제 변화에 따른 인장강도, 연신율 내마모성을 측정했다. 피마자유 함유가 많은 시료의 인장강도가 1.112kgf/㎟, 연신율 88%로 나타났으며, 사슬연장제 함유가 많은 시료의 인장 강도가 3.33kgf/㎟, 연신율 99%로 측정되었다. 표면강도는 SEM을 통해 육안으로 확인하였다.

This research would investigate deeply the operation of an omni-directional mobile robot that is able to move with high acceleration. For the high acceleration performance, the vehicle utilizes the structure of Active Split Offset Casters (ASOCs). This paper is mainly focused on inverse kinematics of the structure, hardware design to secure durability and preserve the wheels’ contact to the ground during high acceleration, and localization for the real time position control.