서지주요정보
가변 형상 무한궤도 차량의 성능 해석 및 설계 = Design and performance analysis of variable configuration tracked vehicle
서명 / 저자 가변 형상 무한궤도 차량의 성능 해석 및 설계 = Design and performance analysis of variable configuration tracked vehicle / 김한호.
저자명 김한호 ; Kim, Han-Ho
발행사항 [대전 : 한국과학기술원, 2000].
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소장정보

등록번호

8010846

소장위치/청구기호

학술문화관(문화관) 보존서고

MME 00021

SMS전송

도서상태

이용가능

대출가능

반납예정일

초록정보

The autonomous vehicles have been needed increasingly in the wide field of scouting in hostile environment, assessing situational danger, detecting mines, investigating sites contaminated by radiation, biological agents, etc. In the point of the driving capability, tracked locomotion has the best performance among several locomotion systems. However it has a weakpoint on energy consumption. For this reason, variable configuration tracked vehicles (VCTV) have been developed. In this paper, a new mechanism is developed to reduce a turning energy and climb stairs. This mechanism has four tracks. Each track rolls around three wheels. When changing the driving direction, each module of the track and wheels rotates to minimize the contact area with ground. This mechanism has the better performance than other VCTV in energy consumption of turning, because it comes in line contact with the ground as wheeled vehicles. Furthermore this mechanism is more stable than other VCTV on the rough terrain, because four wheels support this mechanism. When climbing stairs, each module rotates to obtain a front attack angle and keep stability on steep stairs. This mechanism can climb stairs using the smaller transformation energy than other VCTV because this mechanism can obtain adaptable stair-climbing form by transformation. The design parameters of components of modules are optimized to enhance the performance of climbing stairs. The performance indices related to climbing stairs are a stable angle, a climbing ability, a height of the vertical obstacle. As a result, in case that the overall size of the mechanism is 0.2m, it is obtained that the radius of the wheels should be 5mm and the length of the partition of the track contacted with the ground should be 0.09m to climb higher and more inclined stairs.

서지기타정보

서지기타정보
청구기호 {MME 00021
형태사항 vii, 60 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Han-Ho Kim
지도교수의 한글표기 : 곽윤근
지도교수의 영문표기 : Yoon-Keun Kwak
학위논문 학위논문(석사) - 한국과학기술원 : 기계공학전공,
서지주기 참고문헌 : p. 59-60
주제 무한궤도차량
성능 해석
가변 형상
Tracked vehicle
Crawler
Performance analysis
Variable configuration
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