publication . Part of book or chapter of book . 2007

Optimal Design of a New Wheeled Mobile Robot by Kinetic Analysis for the Stair-Climbing States

Woo, Chun-Kyu; Choi, Hyun Do; Kim, Mun Sang; Kim, Soo Hyun; Kwak, Yoon Keun;
Open Access English
  • Published: 01 Oct 2007
  • Publisher: InTech
Abstract
In order to be utilized in building inspection, building security, and military reconnaissance, a new type of WMR was designed with a passive linkage-type locomotive mechanism for improved adaptability to rough terrain and stair-climbing without the active control techniques. Two designed concepts, `adaptability' and `passivity', were considered for the design of the linkage-type locomotive mechanism of the WMR. The proposed mechanism, composed of a simple 4-bar linkage mechanism and a limited pin joint, allows the WMR to adapt passively to rough terrain and to climb stairs. A state analysis was carried out to determine the states that primarily influence the WM...
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Part of book or chapter of book . 2007
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