도로와 험지 주행이 가능한 구동부 설계

Abstract

The applications of robots are increasing progressively along with their capabilities. A driving unit is an essential element in any robot and the performance of the robot is directly related to its performance. This study aims to design a transmission that adopts multiple caterpillar and wheel driving arrangement with low contact pressure for versatile applications. The limitations of similar previous studies are highlighted and a practical model to address them is presented. FEM analysis and formulae are applied for system optimization. Driving and switching can be done using a pair of motors and actuators connected to the rear wheel. The wheel axis is mechanically connected to the motor and the tension is adjusted by pose change through the actuator of the outer pulley on the parallel axis. This helps to overcome the problem and allows continuous operation by eliminating the delay time when switching a driving pose. The stability of the system is verified through stress analysis of the deceleration system, where the largest torque is applied internally. Finally, the validity of the proposed design is proved through the fabrication of a mock-up model of actual size.