Abstract
An analysis method to make the rocker bogie mechanism can climb up a stair is achieved in this paper. To verify whether the rocker bogie, with certain lengths of the linkages and radii of the wheels, could climb up a target stair or not, a kinematic analysis and its posture are determined. The trace of the center of mass of the rocker bogie was considered and the situation that three wheels contact the front side of the stair is analyzed. With this two analyses, the stair climbability graph (SCG) determined with the length and the height of a stair was drawn. The SCG shows the climbable stair group for the rocker bogie with certain size. Two prototypes of rocker bogie which has different lengths of linkages were designed and tested on two different stairs. As same result of the SCG, the first prototype rocker bogie with small rocker linkage can climb up the stair (length 450 mm and height 150 mm) but cannot climb up the other stair (length 300 mm and height 175 mm). The second prototype rocker bogie with large rocker linkage can climb up both stairs.
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Dongkyu Choi received the B.S. degree in Mechanical Aerospace Engineering from Seoul National University, Seoul, Korea, in 2010. He is currently working toward the Ph.D. degree in Robust Design Engineering Laboratory, in Seoul National University, focusing his research on a rough terrain vehicle.
Jongkyun Oh received the B.S. degree in Mechanical Engineering from Chungnam National University, Deajeon, Korea, in 2011. He is currently working toward the M.S. degree in Robust Design Engineering Laboratory, in Seoul National University, focusing his research on a rough terrain vehicle.
Jongwon Kim is a professor in the School of Mechanical and Aerospace Engineering of Seoul National University, Korea. He received his B.S. in Mechanical Engineering from Seoul National University in 1978, and his M.S. in Mechanical and Aerospace Engineering from Korea Advanced Institute of Science and Technology (KAIST), Korea, in 1980. He received Ph.D. in Mechanical Engineering from University of Wisconsin-Madison, USA, in 1987. He worked with Daewoo Heavy Industry & Machinery, Korea, from 1980 to 1984. From 1987 to 1989, he was Director of Central R&D Division at Daewoo Heavy Industry & Machinery. From 1989 to 1993, he was researcher at the Automation and Systems Research Institute at Seoul National University. His research interests include parallel mechanism, Taguchi methodology and field robot.
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Choi, D., Oh, J. & Kim, J. Analysis method of climbing stairs with the rocker-bogie mechanism. J Mech Sci Technol 27, 2783–2788 (2013). https://doi.org/10.1007/s12206-013-0725-3
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DOI: https://doi.org/10.1007/s12206-013-0725-3