Design and optimisation of variable geometry single-tracked vehicle for climbing stairs

There have been many researches about the various utilities of mobile robots and the driving mechanism for off-road mobility. It is necessary for the robot vehicles to play the key roles of search and rescue operations in dangerous areas and unknown terrains, instead of humans. It is a prior issue to develop a driving mechanism that can overcome off-road obstacles to achieve such objectives, such as stairs. Therefore, we proposed a new type of driving mechanism that has a variable geometry single-track. This mechanism has a symmetric configuration so that the robot advances in dual directions and prepares against overturn. By using transformation, it can reduce the maximum energy consumption in steering and rotating and also maximise the ability to overcome stairs.
Publisher
Inderscience Enterprises Ltd
Issue Date
2007
Language
ENG
Keywords

RESCUE; ROBOT

Citation

INTERNATIONAL JOURNAL OF VEHICLE DESIGN, v.43, no.1-4, pp.221 - 236

ISSN
0143-3369
DOI
10.1504/IJVD.2007.012305
URI
http://hdl.handle.net/10203/87542
Appears in Collection
ME-Journal Papers(저널논문)
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