TY - GEN
T1 - Flexible suspension mechanism for stable driving of a differential drive mobile robot
AU - Roh, Se Gon
AU - Lim, Bokman
AU - Moon, Hyunpil
AU - Lee, Jung Sub
AU - Park, Jae Hoon
AU - Koo, Ja Choon
AU - Choi, Hyouk Ryeol
PY - 2013
Y1 - 2013
N2 - The differential drive mechanism, which is one of the mechanisms of wheeled mobile robots, is simple and useful for the motion of the mobile robot. The mechanism, however, has typical disadvantages of losing mobility, falling down, etc. when the robot moves over obstacles or uneven terrains. A novel suspension mechanism presented in this paper was designed to help the robot to overcome these problems. In particular, this mechanism is very suitable for a tall robot, which is susceptible to overturning because of the disturbance caused by acceleration, deceleration, and collision. The proposed mechanism called a Multilayered Suspension Mechanism is composed of the effective and well-directed combination of springs and dampers. It is very simple and cost-effective since it has no actuator for suspension. In this paper, mechanical construction and characteristics of the mechanism are described. Then, excellence and performance of the proposed mechanism are demonstrated by simulations and experiments.
AB - The differential drive mechanism, which is one of the mechanisms of wheeled mobile robots, is simple and useful for the motion of the mobile robot. The mechanism, however, has typical disadvantages of losing mobility, falling down, etc. when the robot moves over obstacles or uneven terrains. A novel suspension mechanism presented in this paper was designed to help the robot to overcome these problems. In particular, this mechanism is very suitable for a tall robot, which is susceptible to overturning because of the disturbance caused by acceleration, deceleration, and collision. The proposed mechanism called a Multilayered Suspension Mechanism is composed of the effective and well-directed combination of springs and dampers. It is very simple and cost-effective since it has no actuator for suspension. In this paper, mechanical construction and characteristics of the mechanism are described. Then, excellence and performance of the proposed mechanism are demonstrated by simulations and experiments.
UR - https://www.scopus.com/pages/publications/84893769158
U2 - 10.1109/IROS.2013.6697156
DO - 10.1109/IROS.2013.6697156
M3 - Conference contribution
AN - SCOPUS:84893769158
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5518
EP - 5523
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -