Proceeding of EDISON Challenge (EDISON SW 활용 경진대회 논문집)
- 2016.03a
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- Pages.469-472
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- 2016
Design of optimized legged robots for safety structure using Jansen Mechanism and m.Sketch
Jansen Mechanism 과 m.Sketch 를 활용한 보행 로봇의 안전 최적 설계.
- Woo, Minhyuk (Dept. of Mechanical Engineering, Yonsei University)
- 우민혁 (연세대학교 기계공학과)
- Published : 2016.03.22
Abstract
Jansen Mechanism has been a constant popularity by researchers studying legged robots because of many benefits. This paper proposed the design process of optimized legged robots using Jansen Mechanism and m.Sketch(Jansen Mechanism simulation software). First, driving part of legged robots is designed in compliance with the design regulations of a competitive exhibition. Second, setting the length of link and position of joint is conducted in keeping with the constraints. Third, Ground Length (GL) and Ground Angle Coefficient(GAC) values are extracted by m.Sketch simulation. Finally, by repeating the previous procedures, comparing the GL and GAC values, find the optimum input values. This.