변형 트랙 메커니즘을 이용한 등반로봇 설계

This paper presents a transformable track mechanism for wall climbing robots. The proposed mechanism allows a wall climbing robot to go over obstacles by transforming the track shape,and also increases contact area between track and wall surface for safe attachment. The track mechanism is realized using a timing belt track with one driving actuator. The inner frame of the track consists of serially connected 5R-joints and 1P-joint, and all joints of the inner frame are passively operated by springs, so the mechanism does not require any actuators and complex control algorithms to change its shape. Static analysis is carried out to determine design parameters which enable 90º wall-to-wall transition and driving over projected obstacles on wall surfaces. A Prototype is manufactured using the transformable track on which polymer magnets are installed for adhesion force. The size of the prototype is 628mmⅩ200mmⅩ150mm (LengthⅩWidthⅩHeight) and weight is 4kgf. Experiments are performed to verify its climbing capability focusing on 90º wall to wall transition and driving over projected obstacle.