서지주요정보
사각보행로보트의 기계설계에 관한 연구 = Study for mechanical design of four legged walking robot
서명 / 저자 사각보행로보트의 기계설계에 관한 연구 = Study for mechanical design of four legged walking robot / 홍형주.
발행사항 [대전 : 한국과학기술원, 1991].
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소장정보

등록번호

8002299

소장위치/청구기호

학술문화관(문화관) 보존서고

DME 9127

휴대폰 전송

도서상태

이용가능

대출가능

반납예정일

리뷰정보

초록정보

In this study, design method of a walking robot is suggested by providing design conditions and systematic design procedure both for static gait and for dynamic gait. Design goal is based on the design of walking robot of 1.0m height and about 70kg weight. Designed walking robot KAISER II showed overall configuration 1.4m long, 1.0m high and weighed about 80kg including payload. It could walk as fast as 0.1m/s in level ground and climb 50% grade stairs. Design procedure of walking robot suggested in this study includes specification of design goal and design condition, selecting leg mechanism, selecting motor and transmission system, deciding walking volume detail design, analysis of walking robot and finally fabrication. Important performances in the design are mobility walking velocity energy efficiency and payload of walking robot. Mobility energy efficiency, fabrication, simple inverse kinematics and deflection by body weight are used as design conditions of leg mechanism. The conditions are used to evaluate walking robot and select leg mechanism. Pantograph mechanism among seven bar mechanisms of two DOF is selected and developed for three dimensional motion in the respect of design conditions. Detail design of pantograph is accomplished with the walking volume, walking speed and deflection that determines mobility of walking robot. In selecting motors and transmission system, it is found that the walking robot can walk faster with the more powerful motors. Validity of the suggested design procedure has been checked through the design of quadruped walking robot KAISER II. As the results, pantograph of large magnification ratio is proved to be a successful mechanism as a leg of walking robot. It is also found that deflection of leg as much as 0.5% of body height is moderate both for weight of leg and walking speed. To improve walking speed of the robot, dynamic gait is also studied. For this purpose, the dynamic gait of quadruped walking robot is numerically simulated with three dimensional dynamic model. A gait pattern named ""Simple Trot"" is adapted as a suitable gait pattern for the walking robot among several gait patterns that the vertebrate animals take. Conditions such as symmetric gait, gait of duty factor between 0.5 and 0.75, and regular gait are considered for the gait pattern to simplify the walking strategy. The feasibility conditions for the successful gait are suggested to be periodic, roll over the diagonal support line, be ready for soft town down of swing leg and maintain balance of body during statically stable phase. Through computer simulation of dynamic gait, it is found that walking velocity limits of the walking robot is proportional to stroke and square root of body height. The initial angular momentum required just before the inverted pendulum phase is proved to be proportional to square of stroke angle of diagonal support line and inverse of walking velocity by numerical simulation. The range of feasible initial angular velocity of body depends on phase difference between legs that forms diagonal support line. The most wide range of initial angular velocity are obtained when $\phi = (\beta -0.5)$.

서지기타정보

서지기타정보
청구기호 {DME 9127
형태사항 x, 137 p. : 삽도 ; 26 cm
언어 한국어
일반주기 부록 : A, 용어해설. - B, 보행로보트의 삼차원 DADS 모델링
저자명의 영문표기 : Hyung-Joo Hong
지도교수의 한글표기 : 윤용산
지도교수의 영문표기 : Yong-San Yoon
학위논문 학위논문(박사) - 한국과학기술원 : 기계공학과,
서지주기 참고문헌 : p. 83-87
주제 Mechanical movements
Pantograph
Robots --Design and construction
이동 로봇 --과학기술용어시소러스
기계 설계 --과학기술용어시소러스
기계 요소 --과학기술용어시소러스
다리 --과학기술용어시소러스
기구학 --과학기술용어시소러스
Mobile robots
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