Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Locomotion Characteristics of a Foxtail and a Foxtail-like Robot

강아지풀 및 강아지풀모사로봇의 이동특성에 관한 연구

  • Lee, Min-Su (School of Aerospace and Mechanical Engineering, Korea Aerospace Univ.) ;
  • Kim, Yeong-Hyeok (School of Aerospace and Mechanical Engineering, Korea Aerospace Univ.) ;
  • Leem, Sang-Huyck (School of Aerospace and Mechanical Engineering, Korea Aerospace Univ.) ;
  • Kim, Byung-Kyu (School of Aerospace and Mechanical Engineering, Korea Aerospace Univ.)
  • 이민수 (한국항공대학교 항공우주 및 기계공학부) ;
  • 김영혁 (한국항공대학교 항공우주 및 기계공학부) ;
  • 임상혁 (한국항공대학교 항공우주 및 기계공학부) ;
  • 김병규 (한국항공대학교 항공우주 및 기계공학부)
  • Received : 2009.08.19
  • Accepted : 2010.10.21
  • Published : 2010.12.01
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Abstract

A foxtail moves forward on a flat surface when pushed by a vertical force. The distance moved by the foxtail depends on the degree of deformation. We experimentally investigated the main parameters that influence the distance moved while varying the pushing force, area, and velocity. We then fabricated a nylon barb that mimics the foxtail barb and performed theoretical and experimental analyses of the displacement according to the acting force and the deflection. In addition, we investigated the relation between the displacement and the angle of a foxtail-like robot's leg by varying the clearance between the robot body and the inner surface of the pipe. To find the design parameters of the barb of the robot for tubular-type digestive organs and blood vessels, we studied the relation between the acting force and the elastic modulus while varying the leg diameter.

평평한 바닥 위에서 강아지풀을 수직으로 누르면 강아지풀은 앞으로 이동한다. 이 현상을 통해서 강아지풀의 이동거리는 강아지풀 처짐량에 의존하는 것을 알아내었다. 그러므로 강아지풀을 누르는 힘, 면적, 속도 변화에 따른 강아지풀의 이동거리에 영향을 주는 요인을 실험을 통해 알아보았다. 이 결과를 바탕으로 강아지풀의 섬모를 모사한 나일론 섬모를 제작하여, 나일론 섬모에 작용하는 힘과 처짐량에 따른 이동거리를 이론적, 실험적으로 알아내었다. 또한 로봇과 관의 내벽 사이 간극 차이에 따라 발생하는 로봇 다리의 각도변화에 따른 이동거리에 대해서 연구하였다. 그리고 소화기와 혈관의 치료를 위한 이동로봇의 섬모 제작에 관한 설계 변수를 제공하기 위해, 로봇 다리의 직경과 탄성계수의 관계에 대해서 연구하였다.

Keywords

References

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