公开(公告)号：KR100458284B1

公开(公告)日：2004-11-26

申请号：KR1020020042001

申请日：2002-07-18

Applicant: 한국과학기술연구원

Inventor： 김문상 ,  강성철 ,  곽윤근 ,  장준현 ,  우춘규 ,  김연훈 ,  신경철 ,  정우진

IPC: B25J5/00

Abstract: PURPOSE: A four-articulated link mechanism driving system for a six-wheeled driving robot is provided to enable the robot to climb stairs, and to easily control the six-wheeled driving robot by simplifying the structure of the system. CONSTITUTION: A first link(1) connects a first wheel(100) with a second wheel(200), and is connected to a main body(4) by a joint mechanism(50) and to a second link(2) by a rotary joint(31). The second link is connected to a third wheel(300) and a third link(3) by a rotary joint(32). The third link is connected to the main body by a rotary joint(33).

Abstract translation: 目的：提供一种用于六轮驱动机器人的四关节连杆机构驱动系统，以使机器人爬上楼梯，并通过简化系统的结构来容易地控制六轮驱动机器人。 构成：第一连杆（1）将第一轮（100）与第二轮（200）连接，并且通过关节机构（50）连接到主体（4）并且通过第二连杆（2）连接到第二连杆 旋转接头（31）。 第二连杆通过旋转接头（32）连接到第三轮（300）和第三连杆（3）。 第三连杆通过旋转接头（33）连接到主体。

公开(公告)号：KR1020040008373A

公开(公告)日：2004-01-31

申请号：KR1020020042001

申请日：2002-07-18

Applicant: 한국과학기술연구원

Inventor： 김문상 ,  강성철 ,  곽윤근 ,  장준현 ,  우춘규 ,  김연훈 ,  신경철 ,  정우진

IPC: B25J5/00

Abstract: PURPOSE: A four-articulated link mechanism driving system for a six-wheeled driving robot is provided to enable the robot to climb stairs, and to easily control the six-wheeled driving robot by simplifying the structure of the system. CONSTITUTION: A first link(1) connects a first wheel(100) with a second wheel(200), and is connected to a main body(4) by a joint mechanism(50) and to a second link(2) by a rotary joint(31). The second link is connected to a third wheel(300) and a third link(3) by a rotary joint(32). The third link is connected to the main body by a rotary joint(33).

Abstract translation: 目的：提供一种用于六轮驱动机器人的四关节连杆机构驱动系统，以使机器人能够爬楼梯，并通过简化系统的结构来轻松控制六轮驱动机器人。 构成：第一连杆（1）连接第一轮（100）与第二轮（200），并且通过联接机构（50）连接到主体（4），并且通过一个第二连杆 旋转接头（31）。 第二连杆通过旋转接头（32）连接到第三轮（300）和第三连杆（3）。 第三连杆通过旋转接头（33）与主体连接。