협소구역 이동을 위한 소형 직렬 다관절 메커니즘 개발

This paper presents a multi-linked serial mechanism consists of actuator modules with 2-DOF revolute joints for moving inside confined spaces in order to search for human victims in disaster areas. The modules have two small DC motors and worm gear boxes to increase the torque output and an embedded motor controller based on a DSP(Digital Signal Processor). This paper also proposes the required conditions for stable locomotion inside vertical straight pipes and shows that minimum number of the revolute joints is 6 for satisfying the conditions.