WHEEL AND TRACK HYBRID MOBILE PLATFORM APPARATUS EMPLOYING AN OFF-ROAD DRIVING MECHANISM FOR A SPECIAL SERVICE ROBOT

摘要

PURPOSE: A wheel and track hybrid mobile platform apparatus employing an off-road driving mechanism for a special service robot is provided to enable fast and quiet driving of a robot on a flat surface and climbing on stairs. ;CONSTITUTION: A wheel and track hybrid mobile platform apparatus employing an off-road driving mechanism for a special service robot comprises a main frame, motor units which are installed inside the main frame, moving wheels(126_1~126_4) and sprockets which are driven with the power from the motor, tracks(122_1,122_2) which are located outside the sprockets and rotated along with the sprockets, track arms(120_1~120_5) which change the vertical width of the tracks, and a control device which controls the motor unit to keep the track arms horizontal during traveling on a flat surface.;COPYRIGHT KIPO 2011