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

  • 제38권6호
  • /
  • Pages.585-592
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  • 2014
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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도마뱀 로봇 설계를 위한 생체운동 모사 다물체 동역학 시뮬레이터 개발

Development of Multi-Body Dynamics Simulator for Bio-Mimetic Motion in Lizard Robot Design

  • 박용익 (충남대학교 메카트로닉스공학과) ;
  • 서봉철 (충남대학교 메카트로닉스공학과) ;
  • 김성수 (충남대학교 메카트로닉스공학과) ;
  • 신호철 (한국원자력연구원)
  • Park, Yong-Ik (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.,) ;
  • Seo, Bong Cheol (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.,) ;
  • Kim, Sung-Soo (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.,) ;
  • Shin, Hocheol (Robot Technology Team, Korea Atomic Energy Research Institute)
  • 투고 : 2013.04.26
  • 심사 : 2014.04.10
  • 발행 : 2014.06.01
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초록

본 논문에서는 도마뱀 로봇 설계를 위한 생체운동 모사 다물체 동역학 시뮬레이터가 개발되었다. 시뮬레이터에 사용된 다물체-기구 동역학 모델은 상용 소프트웨어인 RecurDyn 에 쿠반에놀 도마뱀의 모션 캡쳐 데이터와 Micro-CT 데이터를 적용하여 생성되었다. 다양한 도마뱀의 보행 운동 특성 해석을 위해서 생체운동 시뮬레이터는 궤적 생성모듈, 역기구학 모듈, 역동역학 모듈로 구성된다. 궤적생성 모듈은 도마뱀의 속도에 따른 척추운동과 발 궤적을 생성한다. 또한, 도마뱀 로봇 설계를 위해서 역기구학을 통한 관절 각도 계산과 그를 통한 역동역학 해석으로 이동속도에 대한 요구 조인트 구동력을 생성한다.

In this study, a multibody simulator was developed to analyze the bio-mimetic motion of a lizard robot design. A RecurDyn multibody dynamics model of a lizard was created using a micro-computerized tomography scan and motion capture data. The bio-mimetic motion simulator consisted of a trajectory generator, an inverse kinematics module, and an inverse dynamics module, which were used for various walking motion analyses of the developed lizard model. The trajectory generation module produces spinal movements and gait trajectories based on the lizard's speed. Using the joint angle history from an inverse kinematic analysis, an inverse dynamic analysis can be carried out, and the required joint torques can be obtained for the lizard robot design. In order to investigate the effectiveness of the developed simulator, the required joint torques of the model were calculated using the simulator.

키워드

참고문헌

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