짐칸의 전후 수평유지를 위한 이동로봇의 기계장치 설계

Abstract

In this study, we designed and manufactured a mechanical device for a mobile robot that can maintain aluggage compartment in the horizontal direction when the robot moves on an inclined path. The mobilerobot has hinges attached to both sides of the front of the luggage compartment, and a linear actuator isattached to the center of the back of the luggage compartment. When the linear actuator is raised andlowered, the luggage compartment moves up and down by the hinge. As a result, the mobile robot canmaintain forward and backward horizontality on an inclined path. An inclination characteristic test of themanufactured mobile robot luggage compartment revealed that operation up to an inclination angle of ±5°was possible. Thus, the luggage compartment of the front-to-back horizontal maintenance mobile robotmanufactured in this study can maintain front-to-back horizontality when the robot moves on an inclined path.