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대표 스크류를 이용한 평면형 및 험로 주행로봇의 모빌리티 분석

Title
대표 스크류를 이용한 평면형 및 험로 주행로봇의 모빌리티 분석
Other Titles
Mobility Analysis of Planar Mobile Robots and The Rough-Terrain Mobile Robot via The Representative Screw
Author
이병주
Keywords
mobility; representative screw; parallel mechanisms; mobile robot; kinematic model; joint screw
Issue Date
2002-10
Publisher
제어로봇시스템학회
Citation
제어로봇시스템학회 논문지, v. 8, no. 10, page. 881-889
Abstract
Mobility analysis for various mobile mechanisms including mechanisms with lack of geometric generality is performed. Joint screws are employed to find the size of feasible joint motion space of each of independent loops of mobile mechanisms. Particularly, the concept of "representative screws" is introduced to represent the feasible motion spaces for subsets of joints belonging to either a loop or a sub-system consisting of several closed loops. Firstly, simplified joint model for each of four different typical wheels popularly employed in mobile robots is described Then, mobility analysis for various types of planar mobile robots and the Mars Rover mobile robot for navigation on the rocky road on Mars are performed. It is confirmed that the obtained results in this study coincide with the previous ones which were obtained by using imaginary joints approach
URI
http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE01969562?https://repository.hanyang.ac.kr/handle/20.500.11754/157745
ISSN
1976-5622; 2233-4335
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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