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http://dx.doi.org/10.14775/ksmpe.2022.21.08.009

Leg Structure based on Counterbalance Mechanism for Environmental Adaptive Robot  

Park, Hui-Chang (Korea Institute of Robotics & Technology Convergence)
Oh, Jang-Seok (Korea Institute of Robotics & Technology Convergence)
Cho, Yong-Jun (Korea Institute of Robotics & Technology Convergence)
Yun, Hae-Yong (Korea Institute of Robotics & Technology Convergence)
Hong, Hyung-Gil (Korea Institute of Robotics & Technology Convergence)
Kang, Min-Su (Korea Institute of Robotics & Technology Convergence)
Park, Kwan-Hyung (Korea Institute of Robotics & Technology Convergence)
Song, Jae-Bok (Dept. of Mechanical Engineering, Korea University)
Publication Information
Journal of the Korean Society of Manufacturing Process Engineers / v.21, no.8, 2022 , pp. 9-18 More about this Journal
Abstract
As the COVID-19 continues, the demand for robotic technology that can be applied in face-to-face tasks such as delivery and transportation, is increasing. Although these technologies have been developed and applied in various industries, the robots can only be operated in a tidy indoor environment and have limitations in terms of payload. To overcome these problems, we developed a 2 degree of freedom(DOF) environmental adaptive robot leg with a double 1-DOF counterbalance mechanism (CBM) based on wire roller. The double 1-DOF CBM is applied to the two revolute joints of the proposed robot leg to compensate for the weight of the mobile robot platform and part of the payload. In addition, the link of the robot leg is designed in a parallelogram structure based on a belt pulley to enable efficient control of the mobile platform. In this study, we propose the principle and structure of the CBM that is suitable for the robot leg, and design of the counterbalance robot leg module for the environment-adaptive control. Further, we verify the performance of the proposed counterbalance robot leg by using dynamic simulations and experiments.
Keywords
Environmental Adaptive Robot; Legged Robot; Counterbalance Mechanism; Mobile Robot;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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