무한궤도 로봇의 주행 해석에 관한 연구

Abstract

A tracked robot has an excellent mobility on the rough terrain. Especially, a tracked robot for driving has to get structural function in the every field. In this paper, we propose a tracked robot of a small rear wheel typed. Also compared and estimated a driving analysis about the tracked robot in considered the general environment. Compared 2 models are different in size of rear wheels but front wheels are same size each other. From comparing model, the radius of front wheels is 100㎜ and the radius of rear wheels is 100㎜. The radius of front wheels is 100㎜ and the radius of rear wheels is 70㎜ from proposed tracked robot. Depend on these radiuses of values we are known driving torque values of an actuating wheel using Recurdyn. And estimated stress of rotated track by an actuating wheel using Ansys. finally, the designed robot has size of 600㎜ × 330㎜ × 150㎜, weight is 27㎏ and the tracked robot is actuated by 2 geared DC motors.