학위논문 (박사)-- 서울대학교 대학원 : 기계항공공학부, 2015. 8. 김종원. ; This thesis presents a new mobile robotic platform (RHyMo) which can reduce unexpected variations in height and pitch angle of its main body while traversing rough terrains and also has high terrainability to overcome an obstacle. A new performance metric for a mobile platform called as a posture variation index (PVI) was suggested to evaluate the smoothness of its movement on rugged terrain, which may play an important factor to predict undesired oscillations of a mobile platform while traveling on rugged terrain. The proposed PVI is defined as a combination of height and pitch angle variations of center of mass (CM) of a mobile platform. By using this proposed PVI, the movements of various mobile platforms are exhaustively analyzed. A new linkage mechanism which has low posture variation was suggested by adopting the inverse four-bar mechanism. Height variation and pitch angle variation of main body of the new linkage mechanism were measured, and the resulting PVI is much smaller than those of other mobile platforms. The new linkage mechanism was optimized by kinematic analysis and the resulting PVI value was significantly reduced by 17.9 % compared to Rocker-Bogie mechanism which showed the smallest PVI value previously. In order to ensure smooth movement as well as excellent terrainability, a new mobile platform (RHyMo) is proposed based on the kinematic and inverse dynamic analysis results. The extensive experiments are carried out by using Rocker-Bogie and RHyMo on artificial rugged terrain, which validate that in comparison with the Rocker-Bogie, the average and maximum height variations of RHyMo are reduced by 12.72 % and 5.96 %, respectively. Moreover, the average and maximum pitch angle variations of RHyMo are significantly reduced by 65.87 % and 60.53 %, respectively. The terrainability of RHyMo against a step and stairs of high slope is proved to be compatible to those of obstacle climbing mobile platforms with the help of the track mechanism installed at the front linkage ; Contents List of Figures List of Tables 1. Introduction 1.1. Motivation 1.2. Stability metrics on mobile platform 1.2.1. A Force angle stability method 1.2.2. A Normalized energy stability margin 1.3. A terrainability metric on mobile platform 1.4. Slip metrics on mobile platform 1.5. Objective of research 2. New metric about posture variation on mobile platform 2.1. Definition of height and a pitch angle variation of main body on rugged terrain 2.2. Definition of a posture variation index (PVI) 2.3. Comparison of mobile platforms with posture variation index 2.4. Terrainability of mobile platforms 2.5. A PVI-Terrainability of mobile platforms 3. New linkage mechanism 3.1. Analysis of height and pitch angle variations of Rocker-Bogie mechanism 3.2. Concept design of new linkage mechanisms 3.3. Kinematic analysis of four-bar linkage mechanism 3.4. Comparison of four linkage mechanisms 3.5. Comparison of two inverse four-bar linkage mechanisms 3.6. Kinematic analysis of a new linkage mechanism 3.7. A PVI-terrainability of mobile platforms including proposed mobile platform 4. Dynamic analysis 4.1. Variation of friction coefficient of proposed mobile platform by simulation 4.2. Previous analysis in mobile platform 4.2.1. Quasi-Static analysis method 4.2.2. Dynamic analysis method by Zhi Shillar 4.3. Concept of inverse dynamic analysis 4.4. Characteristics of platform parts 4.5. Algorism to draw a trajectory of mobile platform 4.6. Accelerations and angular accelerations of linkages 4.7. Dynamic analysis of the proposed mobile platform 4.8. Solving an indeterminate equation problem 4.8.1. Solving an indeterminate equation by pseudo inverse matrix 4.8.2. Solving an indeterminate equation by linkage characteristic condition 4.8.3. Solving an indeterminate equation by supposing traction force on wheels as maximum force 4.8.4. Solving an indeterminate equation by minimizing energy 4.9. The terrainability of the proposed mobile platform 5. Track mechanism in front of platform 5.1. Previous research: Rocker-Bogie mechanism with track 5.2. Terrainability of the proposed mobile platform with track 5.3. Optimization of the contact angle between the track and the ground 5.4. Comparison between new linkage mechanism and new linkage mechanism with track 5.5. A PVI-Terrainability of mobile platforms 6. Simulation of RHyMo 6.1. Modeling of rugged terrain 6.2. Comparison of mobile platforms movement on rugged terrain 6.3. Comparison of Rocker-Bogie and RHyMo 7. Design of RHyMo 7.1. Outline of RHyMo 7.2. Description of mechanical parts 7.2.1. A platform body 7.2.2. A linkage mechanism design 7.2.3. A wheel module and a track module design 7.3. A control unit 8. Experiment and result 8.1. Posture variation experiment on rugged terrain 8.1.1. A rugged terrain design 8.1.2. Experiment result on the rugged terrain 8.2. Terrainability experiment on a single step 8.3. Stair climbing experiment 8.4. Summary of experimental results 9. Conclusion Bibliography Abstract in Korean ; Doctor


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    Titel :

    Development of the Rough Terrain Hybrid Mobile Robot (RHyMo) with Low Posture Variation Index and High Terrainability ; 자세 변화 최소화 능력이 높고 장애물 극복 능력이 높은 험지 주행 로봇 (RHyMo)의 개발



    Erscheinungsdatum :

    2015-01-01


    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



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