병렬기구 보행로봇의 최적설계와 걸음새에 관한 연구 (Study on Optimal Design and Walking gait of Parallel Typed Walking Robot)

서지정보

· 발행기관 : 한국정밀공학회
· 수록지 정보 : 한국정밀공학회지 / 26권 / 10호 / 56 ~ 64페이지
· 저자명 : 김치효, 박근우, 김태성, 이민기

초록

This paper presents a parallel typed walking robot which can walk in omni-direction and climb
from a floor to a wall. We design a six D.O.F leg mechanism composed of three legs, which form
a parallel mechanism with a base and a ground to generate arbitrary poses. Optimal design is
conducted to maximize the walking space and the dexterity, which are normalized by the stroke of
leg. Kinematic parameters are found to maximize the weighted optimal objectives. We design a
triple parallel mechanism robot by inserting Stewart platform between the upper leg mechanism
and the lower leg mechanism and examine the gaits when the robot walks on the ground and
climbs from a floor to a wall. The analysis of walking space and dexterity for each gait shows that
the triple parallel walking robot has a large walking space with a large stability region. We explore
the possibility that the robot can climb from a floor to a wall. Investigating the gaits for the six
steps proves that the robot can lift the foot up to the wall by combining the orientational walking
space generated by three parallel mechanisms.

영어초록

This paper presents a parallel typed walking robot which can walk in omni-direction and climb
from a floor to a wall. We design a six D.O.F leg mechanism composed of three legs, which form
a parallel mechanism with a base and a ground to generate arbitrary poses. Optimal design is
conducted to maximize the walking space and the dexterity, which are normalized by the stroke of
leg. Kinematic parameters are found to maximize the weighted optimal objectives. We design a
triple parallel mechanism robot by inserting Stewart platform between the upper leg mechanism
and the lower leg mechanism and examine the gaits when the robot walks on the ground and
climbs from a floor to a wall. The analysis of walking space and dexterity for each gait shows that
the triple parallel walking robot has a large walking space with a large stability region. We explore
the possibility that the robot can climb from a floor to a wall. Investigating the gaits for the six
steps proves that the robot can lift the foot up to the wall by combining the orientational walking
space generated by three parallel mechanisms.

참고자료

· 없음