Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design and Implementation of a Mobile Robot with a Variable Structure for Tip-over Prevention

전복방지를 위한 가변 구조 이동 로봇의 설계와 구현

  • Lee, Sungmin (Division of Electronics and Information Engineering, Chonbuk National University) ;
  • Park, Jungkil (Division of Electronics and Information Engineering, Chonbuk National University) ;
  • Park, Jaebyung (Division of Electronics and Information Engineering, Chonbuk National University)
  • 이성민 (전북대학교 전자정보공학부) ;
  • 박정길 (전북대학교 전자정보공학부) ;
  • 박재병 (전북대학교 전자정보공학부)
  • Received : 2014.11.24
  • Accepted : 2015.01.30
  • Published : 2015.04.01
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Abstract

In this paper, we design and implement a mobile robot with variable structure for tip-over prevention. The mobile robot is designed for the purpose of stable drive and work in outdoor terrain. The outdoor terrain is rough and uneven. In this terrain, the tip-over of the mobile robot can occur while driving and working. Therefore, the structure of the mobile robot must be designed in consideration of stable drive and work. The proposed structure is defined as an X-shape for overall balance of the mobile robot. The shape is designed by using a multi-level structure for reducing the size of the robot. To verify the effectiveness of the proposed design, we analyze the tip-over characteristics according to the height of gravitational center and the extension length of the robot. Finally, we develop a prototype of the mobile robot with variable structure, taking the results of the tip-over analysis into consideration.

Keywords

References

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