T-메커니즘을 통한 험지 이동 로봇 탑재부의 2자유도 자가 균형

Abstract

In this paper, self-balacing problem of the payload section of rocker-bogie-type mobile robot on rough terrain is considered. Based on the profile of the rough terrain and the kinematics of the mobile robot with rocker-bogie mechanism, the angular displacements of the robot body (i.e., roll and pitch) are computed without IMU sensor. Then, T-mechansim showing pure 1T2R(1-translation, 2-rotation) moition is employed to balance the payload section of the mobile robot. Different from the previous literature achieving only 1DoF balancing, the proposed mechansim establishes 2DoF balancing by T-mechanism.