EDISON SW 활용 경진대회 논문집 (Proceeding of EDISON Challenge)
- 제5회(2016년)
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- Pages.397-403
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- 2016
얀센 메커니즘 기반의 4 족 로봇의 보행 궤적의 최적화
Optimization on Working Trajectory of a Quadruped Robot Based on Jansen Mechanism
- 배준석 (영남대학교 기계공학부) ;
- 유성민 (영남대학교 기계공학부) ;
- 김민준 (영남대학교 기계공학부) ;
- 정은식 (영남대학교 기계공학부) ;
- 한상민 (영남대학교 기계공학부) ;
- 황우정 (영남대학교 기계공학부) ;
- 최재능 (영남대학교 기계공학부) ;
- 이춘열 (영남대학교 기계공학부)
- Bae, JoonSeok (Dept. of Mechanical Engineering, Yeungnam Univ.) ;
- Yu, SeongMin (Dept. of Mechanical Engineering, Yeungnam Univ.) ;
- Kim, MinJun (Dept. of Mechanical Engineering, Yeungnam Univ.) ;
- Jeong, EunSik (Dept. of Mechanical Engineering, Yeungnam Univ.) ;
- Han, SangMin (Dept. of Mechanical Engineering, Yeungnam Univ.) ;
- Hwang, WooJung (Dept. of Mechanical Engineering, Yeungnam Univ.) ;
- Choi, JaeNeung (Dept. of Mechanical Engineering, Yeungnam Univ.) ;
- Lee, ChoonYeol (Dept. of Mechanical Engineering, Yeungnam Univ.)
- 발행 : 2016.03.22
초록
Various walking robot platforms have been developed to carry out missions such as explorations, pass of obstacle or inspections of dangerous environments. In this work, a four legs mechanism based on Jansen mechanism is developed, which can follow a certain track and overcome obstacles. To find the ideal locus, computer programs are used such as M. sketch and Working model. Using these program tools, moderate linkage sizes are selected in Science Box. Furthermore, in order to optimize design of legs, a level average analysis is used as well as Edison S/W. Through the design optimization, improved stride of locus is found.