트랙기반 수중건설로봇의 운동 모델링에 관한 연구

The mobility of tracked vehicles is mainly influenced by the interaction between the tracks and soil. When the track of a tracked vehicle rotates, there will be a slip effect between the track and the soil, which creates a track shear force and the vehicle's driving force. In this paper, the mo...

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Bibliographic Details
Published in:	Han-guk haeyang gonghak hoeji (Online) Vol. 29; no. 5; pp. 386 - 391
Main Authors:	최동호(Dong-Ho Choi), 이영진(Young-Jin Lee), 홍승민(Sung-Min Hong), Mai The Vu, 최형식(Hyeung-Sik Choi), 김준영(Joon-Young Kim)
Format:	Journal Article
Language:	Korean
Published:	한국해양공학회 2015
Subjects:	해양공학 Trencher 트렌처 Shear force 전단력 Dynamic modeling 운동모델 Track slip 궤도 슬립 Tracked vehicle 궤도차량
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Summary:	The mobility of tracked vehicles is mainly influenced by the interaction between the tracks and soil. When the track of a tracked vehicle rotates, there will be a slip effect between the track and the soil, which creates a track shear force and the vehicle's driving force. In this paper, the modeling of a working tool such as a trenching cutter and a tracked vehicle that is the lower frame of a track-based operating robot was performed. In addition, a numerical simulation was executed to verify the performance of the design objectives and the motion characteristics of the combined system.
Bibliography:	KISTI1.1003/JNL.JAKO201536553011529 G704-000698.2015.29.5.006
ISSN:	1225-0767 2287-6715