Design of a Transformable Track Mechanism for Wall Climbing Robots

Lee, Gi-Uk; Seo, Kunchan; Kim, Hwang; Kim, Sun-Ho; Jeon, Dasom; Kim, Hong-Seok; Kim, Jong-Won

doi:10.7736/kspe.2012.29.2.178

Cited by 2 publications

(1 citation statement)

References 7 publications

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“…We can conclude that the firefighting robot that is developed recently can't deploy in various scenes because of their lacking ability which allows robot to overcome obstacles [4]. The robots that are developed for using in industrial sites are only able perform welding or painting on flat working condition because they can't overcome various obstacles [5]. As on case of mission failure, the robot that was deployed in Fukushima nuclear power plant were failed to check the radiation leak completely because of their limited ability of overcoming the obstacles [6].…”

Section: Introductionmentioning

confidence: 99%

Kinematic Optimal Design on a New Robotic Platform for Stair Climbing

Seo¹,

Hong²,

Lee³

et al. 2013

Journal of the Korean Society of Precision Engineering

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Abstract-Stair climbing is one of critical issues for field robots to widen applicable areas. This paper presents optimal design on kinematic parameters of a new robotic platform for stair climbing. The robotic platform climbs various stairs by body flip locomotion with caterpillar type main platform. Kinematic parameters such as platform length, platform height, and caterpillar rotation speed are optimized to maximize stair climbing stability. Three types of stairs are used to simulate typical user conditions. The optimal design process is conducted based on Taguchi methodology, and resulting parameters with optimized objective function are presented. In near future, a prototype is assembled for real environment testing.

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Section: Introductionmentioning

confidence: 99%