2017³â Ãá°èÇмú´ëȸ
Current Result Document :
ÇѱÛÁ¦¸ñ(Korean Title) |
º¼ º§·±½Ì ·Îº¿¿¡ °üÇÑ ¿¬±¸ |
¿µ¹®Á¦¸ñ(English Title) |
A Research on Ball-Balancing Robot |
ÀúÀÚ(Author) |
¹éÁöÇå
Á¤»ó¿ø
ÇöÈ¿¿ø
Çü´ë¿
Áøż®
Ji-heon Baek
Sang-won Jeong
Hyo-won Hyeon
Dae-youl Hyung
Tae-seok Jin
±èÁöÅÂ
±è´ë¿µ
ÀÌ¿øÁØ
Áøż®
Ji-Tae Kim
Dae-young Kim
Won-Joon Lee
Tae-Seok Jin
|
¿ø¹®¼ö·Ïó(Citation) |
VOL 21 NO. 01 PP. 0463 ~ 0466 (2017. 06) |
Çѱ۳»¿ë (Korean Abstract) |
º» ³í¹®ÀÇ ³»¿ëÀº ±âÁ¸ÀÇ Â÷·û½Ä ·Îº¿°ú´Â Â÷º°ÈµÈ Àü-¹æÇâ ±¸µ¿ÀÌ °¡´ÉÇÑ ¸ðµâ °³¹ßÀ» ÅëÇÏ¿©, ±âÁ¸ ¸ðµâÀÇ À̵¿·Îº¿ÀÌ °¡Áö´Â ´ÜÁ¡ÀÎ Ãø¸éÁÖÇ༺´É ÀúÇÏ, ´Ü¼ø ÀÛ¾÷ÁÖÇà °æ·Î, ȸÀü-Á÷Áø ¹Ýº¹ ÁÖÇàÀ¸·Î ÀÎÇÑ ºÒÇÊ¿äÇÑ ÁÖÇà¼Ò¿ä½Ã°£ÀÇ Áõ´ë µîÀÇ ´ÜÁ¡À» ±Øº¹ÇÒ ¼ö ÀÖÀ» °ÍÀÌ´Ù. º¼-º§·±½Ì ·Îº¿À» ±¸µ¿Çϱâ À§ÇÑ Àü-¹æÇâ ±¸ÇüÈÙ ±¸µ¿¸ðµâÀº 3°³ÀÇ ·ÎÅÍij½ºÅ͸¦ ÀÌ¿ëÇÑ ·Îº¿ÀÇ Àü-¹æÇâÀ¸·Î ±¸µ¿Çϱâ À§ÇÑ µ¿·ÂÀü´Þ ¸ÞÄ¿´ÏÁò°ú ÁÖÇàÀ» À§ÇÑ ¾Ë°í¸®Áò °³¹ßÀÌ ¿ä±¸µÈ´Ù. 3DoF(Ãà)Àü-¹æÇâ À̵¿ ¾Ë°í¸®ÁòÀÌ ³»ÀåµÈ µå¶óÀ̹ö°¡ ¸ðµâ¿¡ ³»ÀåµÇ°í, ÁÖÇà ¹æÇâ ¹× ¼Óµµ¸¦ À§ÇÑ 3DoF(Ãà)ÀÇ ±¸µ¿ ¸ðÅÍ ¸ðµâÀÌ ÀåÂøµÈ´Ù. À̵¿ ¸ÞÄ¿´ÏÁòÀ¸·Î´Â °¢ ±¸µ¿¹ÙÄûÀÇ È¸Àü º¤ÅÍ ÇÕ¿¡ µû¸¥´Ù. µÎ °³¶Ç´Â ¼¼ °³ÀÇ ±¸µ¿¹ÙÄûÀÇ È¸Àü°ú º¤ÅÍ ÇÕ¿¡ µû¸¥ ´Ù¾çÇÑ À̵¿¹æÇâÀ» ¸¸µé¾î ³¾ ¼ö ÀÖ´Ù. °¢ ±¸µ¿¹ÙÄûÀÇ È¸Àü º¤ÅÍÀåÀÇ ¿©ÇÏ¿¡ µû¶ó ´Ù¸¥ ¹æÇâÀ¸·Îµµ À̵¿ÀÌ °¡´ÉÇÏ´Ù. Àü-¹æÇâ À̵¿À» À§ÇÑ º¸´Ù Çõ½ÅÀûÀÎ Àü-¹æÇâ ±¸ÇüÈÙ ±¸µ¿¸ðµâÀÌ °³¹ßµÇ¸é, À̵¿·Îº¿ÀÇ ±¸µ¿ºÎ¿¡ »ç¿ëµÇ¾î ·Îº¿ÀÇ ¼º´ÉÀ» ±â¼úÀûÀ¸·Î Á» ´õ Çâ»ó½Ãų ¼ö ÀÖÀ¸¸ç, ±¸µ¿¸ðµâÀÌ Àû¿ëµÈ Àü-¹æÇâ·Îº¿ Ç÷§ÆûÀ» ÅëÇÏ¿© ±âÁ¸ Â÷·û½Ä ·Îº¿ÀÇ °æ¿ì °¢Á¾ ȯ°æ¿¡ ´ëÇÑ ÀúÇ×¼ºÀ¸·Î ÀÎÇØ ¿¬¼Ó Á÷Áø ¼º´ÉÀÌ ÀúÇϵǴ ´ÜÁ¡À» ±Øº¹ÇÒ ¼ö ÀÖ¾î¼ ¹ÌÁÖ, À¯·´°ú °°Àº ȯ°æ¿¡¼ Àû¿ëµÉ ¼ö Àִ û¼Ò·Îº¿, À̵¿·Îº¿»Ó¸¸ ¾Æ´Ï¶ó Àü-¹æÇâ ÁÖÇà ±â´ÉÀÌ ¿ä±¸µÇ´Â ¾È³»·Îº¿, ž½ÂÇü ·Îº¿, À̵¿¼ö´Ü µî¿¡ ÇʼöÀûÀÎ ±â¼úÀÌ µÉ°ÍÀÌ°í Áö´ÉÇü¼ºñ½º·Îº¿ ½ÃÀå°ú ¹Ì·¡Çü ÀÚµ¿Â÷½ÃÀåÀÇ È®´ë¿¡ ±â¿©ÇÒ ¼ö ÀÖÀ» °ÍÀÌ´Ù.
|
¿µ¹®³»¿ë (English Abstract) |
The purpose of this paper is to develop a module capable of all-directional driving different from conventional wheeled robots, and to solve the problems of the conventional mobile robot with side driving performance degradation, It is possible to overcome the disadvantages such as an increase in the time required for the unnecessary driving. The all - direction spherical wheel drive module for driving a ball - balancing robot is required to develop a power transfer mechanism and a driving algorithm for driving the robot in all directions using three rotor casters. 3DoF (Axis) A driver with built-in forward motion algorithm is embedded in the module and a driving motor module with 3DoF (axis) for driving direction and speed is installed. The movement mechanism depends on the sum of the rotation vectors of the respective driving wheels. It is possible to create various movement directions depending on the rotation and the vector sum of two or three drive wheels. It is possible to move in different directions according to the rotation vector field of each driving wheel. When a more innovative all-round spherical wheel drive module for forward movement is developed, it can be used in the driving part of the mobile robot to improve the performance of the robot more technically, and through the forward-direction robot platform with the drive module Conventional wheeled robots can overcome the disadvantage that the continuous straightening performance is lowered due to resistance to various environments. Therefore, it is necessary to use a full-direction driving function as well as a cleaning robot and a mobile robot applicable in the Americas and Europe It will be an essential technology for guide robots, boarding robots, mobile means, etc., and will contribute to the expansion of the intelligent service robot market and future automobile market.
|
Å°¿öµå(Keyword) |
DC / BLDC Motor(DC¸ðÅÍ)
Power Consumption(¼Òºñ Àü·Â)
Hair dryer(Çì¾î µå¶óÀ̾î)
Ball-Balancing Robot(º¼ º§·±½Ì ·Îº¿)
3DoF(3Ãà)
All-direction(Àü-¹æÇâ)
Mechanism(¸ÞÄ«´ÏÁò)
|
ÆÄÀÏ÷ºÎ |
PDF ´Ù¿î·Îµå
|