Abstract
This work shows how to design a robot structure and to control to overcome obstacles while traveling through ducts of various diameters and shapes by three-legged robot. Circuits are centered in the body to connect the three wheel bodies that are driven around the center body with the 4-section slider link structure. Also, the springs are used to contract and expand the robot legs so that it can be caparable of various environments. Geared motor, spring, and belt were selected based on the static and dynamic calculation to be suitable to horizontal and vertical travels. The center body is equipped with a camera and the distance sensors, and a control algorithms are implemented so that it can be successfully performed in L-type and T-type ducts. Using UWB modules and trilateration algorithm, the location of the duct-cleaning robot inside the duct could be identified successfully.
| Translated title of the contribution | Mechanism Design and Control Technique of Duct Cleaning Robot with Self-position Recognition |
|---|---|
| Original language | Korean |
| Pages (from-to) | 85-95 |
| Number of pages | 11 |
| Journal | 한국인터넷방송통신학회 논문지 |
| Volume | 19 |
| Issue number | 1 |
| DOIs | |
| State | Published - Jan 2019 |