Proceeding of EDISON Challenge (EDISON SW 활용 경진대회 논문집)
- 2016.03a
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- Pages.443-454
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- 2016
Walking robot Optimum Design by Jansen's mechanism
Jansen's Mechanism 기반의 보행로봇 최적설계
- Kim, Taehyun (School. of Mechanical Engineering, Hanyang Univ.) ;
- Seo, Hankook (School. of Mechanical Engineering, Hanyang Univ.) ;
- Lee, Seohyun (School. of Mechanical Engineering, Hanyang Univ.)
- Published : 2016.03.22
Abstract
This study focus to make 8 legs robot based on Jansen's mechanism. In the process of making, we found GL(Ground length),GAC(Ground Angle Coefficient) and the height difference of tract and compare Several models with M.Sketch to find link's Length ratio Optimised simple walking and crossing of obstacles. In the process, our team Analyzed the difference ideal tract (Jansen holy number model's track) contrived by Jansen and our final model tract. As a result, we found optimal link's length ratio to over the obstacles and some features that our model differ from Jansen holy number model. It means that optimal link's length ratio depends on certain circumstances, perfect length ratio is nonexistent.
Keywords
- Ground angle coefficient;
- Ground length;
- Jansen holy number;
- Jansen mechanism;
- M.Sketch;
- Walking robot