한국기계기술학회지 (Journal of the Korean Society of Mechanical Technology)

  • 제13권4호
  • /
  • Pages.137-141
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  • 2011
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  • 1229-604X(pISSN)
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  • 2508-3805(eISSN)
한국기계기술학회 (Korean Society of Mechanical Technology)
권호 표지

자동차용 윈도우 모터를 이용한 보행로봇 구동부 설계

The driving system design of walking robot which uses the automotive window motor

  • 염광욱 (중앙대학교 대학원 기계공학부) ;
  • 함성훈 (동주대학 자동차튜닝과) ;
  • 오세훈 (중앙대학교 기계공학부)
  • 투고 : 2011.11.18
  • 심사 : 2011.12.16
  • 발행 : 2011.12.31
⟨ 이전 논문 다음 논문 ⟩

초록

Driving mechanism, the central part of a robot, was designed in this study. Power for the motive drive was acquired by directly connecting the motor shaft in worm shape of the low-end DC motor, car window motor, to a decelerator. The decelerator consists of a worm gear to receive power from the motor shaft, a pinion gear to be connected in line with the worm gear, and an output shaft to be engaged to the pinion gear. Motion driving is achieved by the power from the motor shaft with the designed gears, transferred to the deceleration mechanism and to the output gear.

키워드

참고문헌

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  2. http://world.honda.com/ASIMO/
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  4. M.Schneider and J.Muller, "Force based motion control of the walking machine ALDURO using exact linearization methods", Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on, pp.537-542, 1999
  5. G.Muller, M. Schneider, and H. Hiller, "Mwchatronic models for simulation and model based control of the walking machine ALDURO", Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on, pp.543-548, 1999
  6. J. Muller, M. Schneider, and M. Hiller, "Modeling, simulation, and model-based control of the walking machine ALDURO", Mechatronics, IEEE/ASME Transactions on Volume:52, pp.142-152, June 2000