EDISON SW 활용 경진대회 논문집 (Proceeding of EDISON Challenge)

한국과학기술정보연구원 (Korea Institute of Science and Technology Information)
권호 표지

Jansen's Mechanism 기반의 보행로봇 최적설계

Walking robot Optimum Design by Jansen's mechanism

  • 김태현 (한양대학교 기계공학부) ;
  • 서한국 (한양대학교 기계공학부) ;
  • 이서현 (한양대학교 기계공학부)
  • Kim, Taehyun (School. of Mechanical Engineering, Hanyang Univ.) ;
  • Seo, Hankook (School. of Mechanical Engineering, Hanyang Univ.) ;
  • Lee, Seohyun (School. of Mechanical Engineering, Hanyang Univ.)
  • 발행 : 2016.03.22
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초록

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.

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