한국기계가공학회지 (Journal of the Korean Society of Manufacturing Process Engineers)

한국기계가공학회 (The Korean Society of Manufacturing Process Engineers)
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Multi-legged Walking Robot Using Complex Linkage Structure

  • 임상현 (한성대학교 기계시스템공학과) ;
  • 이동훈 (한성대학교 기계시스템공학과) ;
  • 강현창 (한성대학교 기계시스템공학과) ;
  • 김상현 (한성대학교 기계시스템공학과)
  • Im, Sang-Hyun (School of Mechanical System Engineering, HANSUNG UNIVERSITY.) ;
  • Lee, Dong Hoon (School of Mechanical System Engineering, HANSUNG UNIVERSITY.) ;
  • Kang, Hyun Chang (School of Mechanical System Engineering, HANSUNG UNIVERSITY.) ;
  • Kim, Sang-Hyun (School of Mechanical System Engineering, HANSUNG UNIVERSITY.)
  • 투고 : 2021.08.19
  • 심사 : 2021.09.11
  • 발행 : 2021.11.30
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초록

Generally, multi-legged walking robots have excellent mobility in rough and uneven terrain, and they are deployed for the safety of rescuers in various disaster environments. However, as each leg is driven by a number of actuators, it leads to a complicated structure and high power consumption; therefore, it is difficult to put them into practical use. In this article, a new concept is proposed of a walking robot whose legs are driven by a complex linkage structure to overcome the deficiencies of conventional multi-legged walking robots. A double crank-rocker mechanism is proposed, making it possible for one DC motor to actuate the left and right movements of two neighboring thighs of the multi-legged walking robot. Each leg can also move up and down through an improved cam structure. Finally, each mechanism is connected by spur and bevel gears, so that only two DC motors can drive all legs of the walking robot. The feasibility of the designed complex linkage mechanism was verified using the UG NX program. It was confirmed through actual production that the proposed multi-legged walking robot performs the desired motion.

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과제정보

이 논문은 한성대학교 교내학술연구비 지원과제임.

참고문헌

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