Design and Optimization of Intelligent Service Robot Suspension System Using Dynamic Model

被引：0

作者：

Choi, Seong Hoon ^{[1
]}

Park, Tae Won ^{[1
]}

Lee, Soo Ho ^{[1
]}

Jung, Sung Pil ^{[1
]}

Jun, Kab Jin ^{[1
]}

机构：

[1] Ajou Univ, Dept Mech Engn, Suwon, South Korea

来源：

TRANSACTIONS OF THE KOREAN SOCIETY OF MECHANICAL ENGINEERS A | 2010年 / 34卷 / 08期

关键词：

Intelligent Service Robot; Suspension System; Dynamic Model; Design Optimization;

D O I：

10.3795/KSME-A.2010.34.8.1023

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Recently, an intelligent service robot is being developed for use in guiding and providing information to visitors about the building at public institutions. The intelligent robot has a sensor at the bottom to recognize its location. Four wheels, which are arranged in the form of a lozenge, support the robot. This robot cannot be operated on uneven ground because its driving parts are attached to its main body that contains the important internal components. Continuous impact with the ground can change the precise positions of the components and weaken the connection between each structural part. In this paper, the design of the suspension system for such a robot is described. The dynamic model of the robot is created, and the driving characteristics of the robot with the designed suspension system are simulated. Additionally, the suspension system is optimized to reduce the impact for the robot components.

引用

页码：1023 / 1028

页数：6

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