• Title/Summary/Keyword: 4절 링크 이론

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Design of Leg Length for a Legged Walking Robot Based on Theo Jansen Using PSO (PSO를 이용한 테오얀센 기반의 보행로봇 다리설계)

  • Kim, Sun-Wook;Kim, Dong-Hun
    • Journal of the Korean Institute of Intelligent Systems
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    • v.21 no.5
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    • pp.660-666
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    • 2011
  • In this paper, we proposed a Particle Swarm Optimization(PSO) to search the optimal link lengths for legged walking robot. In order to apply the PSO algorithm for the proposed, its walking robot kinematic analysis is needed. A crab robot based on four-bar linkage mechanism and Jansen mechanism is implemented in H/W. For the performance index of PSO, the stride length of the legged walking robot is defined, based on the propose kinematic analysis. Comparative simulation results present to illustrate the viability and effectiveness of the proposed method.

얀센 메커니즘 기반 Centroid와 Stability를 고려한Line tracing 로봇설계

  • Kim, Jong-Jin;Park, Dong-Mun
    • Proceeding of EDISON Challenge
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    • 2017.03a
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    • pp.574-578
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    • 2017
  • 본 연구는 4절 링크 이론(four-bar likage mechanism)과 얀센 메커니즘(Jansen mechanism)을 기반으로 다관절 보행로봇을 제작하고, 로봇의 움직임에 대하여 기구학적인 해석을 제시한다. 또한 라인 트레이싱(Line tracing) 방법을 활용한 자동주행 설계를 위해 아두이노 호환 보드와 적외선 센서 4개를 보행로봇에 부착하여 자동 주행 로봇을 제작하였다.

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Kinematic Analysis of a Legged Walking Robot Based on Four-bar Linkage and Jansen Mechanism (4절 링크 이론과 얀센 메커니즘을 기반으로 한 보행 로봇의 운동학 해석)

  • Kim, Sun-Wook;Kim, Dong-Hun
    • Journal of the Korean Institute of Intelligent Systems
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    • v.21 no.2
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    • pp.159-164
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    • 2011
  • In this study, a crab robot is implemented in H/W based on four-bar linkage mechanism and Jansen mechanism, and its kinematics is analysed. A vision camera is attached to the mechanism, which makes the proposed robot a kind of biologically inspired robot for image acquisition. Three ultrasonic sensors are adopted for obstacle avoidance. In addition, the biologically inspired robot can achieve the mission appointed by a programmer outside, based on RF and Blue-tooth communication module. For the design and implementation of a crab robot, it is need to get joint variable, a foot point, and their relation. Thus, the proposed kinematic analysis is very important process for the design and implementation of legged robots.

Analysis of Dynamic Deformation of 4-Bar Linkage Mechanism(II) (4절 링크 기구의 동적 변형 해석 (II))

  • 조선휘;박종근;주동인
    • Transactions of the Korean Society of Mechanical Engineers
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    • v.16 no.5
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    • pp.910-923
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    • 1992
  • Experimental verification of numerical results is conducted by measuring the dynamic strains of mid-points of the coupler and the lever for the 4-bar linkage mechanism with rigid bearing and flexible bearing, respectively. For the axial strain of lever mid-point, the numerical results including geometric stiffness almost agree with the experimental ones, however, the numerical results excluding geometric stiffness almost agree with the experimental ones for the axial strain of coupler mid-point. It is supposed that these phenomena should be caused by the fact that the motion of the coupler is more complicated than of the lever. The signals of dynamic strains of coupler and lever mid-points, measured by strain gages, are transformed into frequency domain by fast fourier transformer. From this experiment, the lst resonance frequencies of the coupler and the lever are obtained. It is made clear that the former almost agrees with the fundamental and the latter the 2nd mode natural frequency of the mechanism system calculated by numerical analysis.

Effects of an Oscillating Inclined Blade on Soil Break-up and Energy Requirements(I) -Balancing and Torque Analysis- (진동(振動)을 이용(利用)한 뿌리작물수확기(作物收穫機)의 소요동력(所要動力) 및 토양파쇄(土壤破碎)에 관(關)한 연구(硏究)(I) -힘의 평형(平衡) 및 토크분석(分析)-)

  • Kang, W.S.;Wright, Malcolm E.;Chung, C.J.;Kim, S.H.
    • Journal of Biosystems Engineering
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    • v.11 no.2
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    • pp.4-13
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    • 1986
  • 뿌리작물(作物)을 수확(收穫)하기 위(爲)하여 진동(振動)을 이용(利用)한 4절(節)링크로 구성(構成)되는 시작기(試作機)를 설계(設計), 제작(製作) 및 실험을 수행(遂行)하였다. 수확기(收穫機)의 작동중(作動中) 발생(發生)하는 불균형력(不均衡力)을 상쇄(相殺)시키기 위(爲)한 힘의 평형장치(平衡裝置)를 설계(設計)하기 위(爲)하여 각(各) 요소(要素)의 가속도(加速度) 및 동력학적(動力學的)인 힘을 분석(分析)하였고, 진동기구(振動機構)에 의(依)하여 발생(發生)되는 이론적(理論的)인 토크와 측정(測定)된 토크를 비교분석(比較分析)하였다. 설계(設計)된 힘의 평형장치(平衡裝置)는 불균형력(不均衡力)의 대부분(大部分)을 상쇄(相殺)시켜주고, 이론적(理論的)인 토크는 실측(實測)토크의 변화경향(變化傾向)과 잘 일치(一致)하였다.

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The Control System of a Medical Robot Bed for Prevention and Healing of Pressure Ulcer (욕창 예방 및 치유를 위한 의료용 로봇 침대 제어 시스템)

  • Lee, Youngdae;Kim, Changyoung;Chang, Changjun;Kim, Jung Ae;Lim, Jae-Young
    • The Journal of the Convergence on Culture Technology
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    • v.6 no.3
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    • pp.353-359
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    • 2020
  • In this study, the controller structure and control algorithm of medical robot bed developed for pressure ulcer prevention and healing are described. The existing pressure ulcer prevention mattress is operated manually and the remaining maximum body pressure exceeds the pressure of ulcer generation, so there is always room for pressure ulcers. However, the system developed in this study does not generate the pressure ulcers because the body pressure drops to zero when the keyboard of the bed descends using the active electric driving keyboard. In addition, even if the bed is raised and the pressure above the critical body ulcer pressure is abnormal, the device and the control algorithm are designed so that the lasting time is within the pressure ulcer generation critical time and the pressure ulcer itself is not generated. The bed key board motor is a motor designed with the BLDC servos suitable for medical use and these can communicate each other easily through CAN(Car Area Network). The system is new medical robot bed that is effective in preventing pressure ulcers and will be distributed to many patients suffering from pressure ulcers.