EDISON SW 활용 경진대회 논문집 (Proceeding of EDISON Challenge)
- 제5회(2016년)
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- Pages.501-505
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- 2016
얀센메커니즘을 이용한 로봇 설계
Design of Robot Using of Jansen Mechanism
- Kim, beong jin (Dept. of Mechanical Engineering, Seoul Nat'l Univ of science and technology) ;
- Kim, hyeon min (School of Mechanical System and Design Engineering, Seoul Nat'l Univ. of Science & Technology) ;
- Lee, hyo jung
- 발행 : 2016.03.22
초록
In this study, a robot is implemented in H/W based on four-bar linkage mechanism and Jansen mechanism. Our goal is to finish the given path using given terms. The various programs was used to understand the mechanism in more detail. DISON m.Sketch, EDISON Designer, Theo Jansen Mechanism Optimization Solver. Using these programs, we can design the robot in more dtails and reduce errors and trials. For the design and implementation of a robot, it is need to get joint variable, a foot point, and their relation. Thus, the proposed kinematic analysis is very important process for the design and implementation of legged robots.