험지 이동을 위한 바퀴형 주행 로봇 모델

Abstract

Abstract: The fields of application using mobile robots are gradually expanding with the development of technology. The important function of the mobile robots is that they must be able to be used in a various of terrain environments. Therefore, they need the ability to pass through places such as the various-sized stairs which are obstacles in a building or road boundary stone, and a rough terrain. To achieve autonomous climbing of various obstacles and rough environments, geometric modeling of the robot must be considered. In this paper, we propose a new type of a six-wheeled mobile robot modeling that can navigate using the Rocker-Bogie mechanism in harsh environment with the various obstacles. It can pass through obstacles without sensors that discriminate between stairs and floors. In addition, it is highly reliable for extreme conditions and energy efficiency because of structurally simple. With these advantages, it will be applied not only in various industrial fields but also to all living environment fields. Finally, the mobile robot that is driven by directly connected to the BLDC motor was manufactured. Although the fabricated mobile robot has advantage to climb various obstacles with constant speed, the autonomous navigation is not yet possible. The total dimensions (length x width x height) of the mobile robot, the radius of each wheel and the overall weight robot are 900mm x 800mm x 150mm, 220mm and 35kg, respectively.