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.
| Original language | Korean |
|---|---|
| Pages (from-to) | 356-360 |
| Number of pages | 5 |
| Journal | Journal of Institute of Control, Robotics and Systems |
| Volume | 21 |
| Issue number | 4 |
| DOIs | |
| State | Published - 2015.01.1 |
Keywords
- Mobile robot
- Support polygon
- Tip-over prevention
- Variable structure
Quacquarelli Symonds(QS) Subject Topics
- Computer Science & Information Systems
- Mathematics
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