• Title/Summary/Keyword: EDISON Designer four-bar linkage

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Walking Apparatus Design through Jansen Mechanism (얀센 메커니즘을 통한 보행 기구 설계)

  • Nam, Ungsig
    • Proceeding of EDISON Challenge
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    • 2016.03a
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    • pp.473-476
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    • 2016
  • In this study, important design factors in Jansen leg mechanism by which two legs can be driven by only one input like a motor are considered through method of transmitting motion in three-bar linkage and Grashof law in four-bar linkage. In preliminary design, by using EDISON m-sketch and its simulation which can observe trace of feet, two identical four-bar linkages are initially designed and two three-bar linkages are added to four-bar linkages sequentially. By analyzing GL(Ground Length) and GAC(Ground Angle Coefficient), the adequacy of the preliminary design was estimated. Final design of walking apparatus is implemented using CAD software, Assembly2 of EDISON Designer. Finally, proposals to improve software used in this study are suggested.

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Design of Robot Using of Jansen Mechanism (얀센메커니즘을 이용한 로봇 설계)

  • Kim, beong jin;Kim, hyeon min;Lee, hyo jung
    • Proceeding of EDISON Challenge
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    • 2016.03a
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    • pp.501-505
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    • 2016
  • In this study, a robot is implemented in H/W based on four-bar linkage mechanism and Jansen mechanism. Our goal is to finish the given path using given terms. The various programs was used to understand the mechanism in more detail. DISON m.Sketch, EDISON Designer, Theo Jansen Mechanism Optimization Solver. Using these programs, we can design the robot in more dtails and reduce errors and trials. For the design and implementation of a 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.

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