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12자유도 이족보행로봇의 설계 및 동역학 해석
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | 오주환 | - |
| dc.date.accessioned | 2017-02-22T02:12:43Z | - |
| dc.date.available | 2017-02-22T02:12:43Z | - |
| dc.date.issued | 2006 | - |
| dc.date.submitted | 2006-02-10 | - |
| dc.identifier.uri | http://kmou.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002174106 | ko_KR |
| dc.identifier.uri | http://repository.kmou.ac.kr/handle/2014.oak/8049 | - |
| dc.description.abstract | In this paper, design modification was performed to improve the structure of ex-developed 12 D.O.F walking robot, KUBIR-1 similar with human beings. The motion of KUBIR-1 was slow and had a limited walking space. Hence I designed an improved BWR named KUBIR-2 with 12 degree of freedom. KUBIR-2 was designed to solve the following problems of KUBIR-1. First, KUBIR-2 was more simply designed in the four-bar-link mechanism, and its weight was reduced. Second, it had the built-in controller and motor driver. Third, walking velocity of KUBIR-2 was increased by improvement of speed and motion joint angle range. In addition to these, we modified the structure of the foot for more stable walking. The torque analysis was performed acting on the joint of robot by modeling the kinematics and dynamics of the robot. Load torque of the joint actuator was analyzed for forward walking motion, and was compared with theoretic analysis. Through the experiment, the theoretic analysis on the torque performance of joint actuators was verified. | - |
| dc.description.tableofcontents | Abstract = ⅲ 기호설명= ⅴ 그림목차 = ⅶ 표목차 = ⅹ 제 1 장 서론 = 1 제 2 장 12자유도 이족보행로봇 하체의 구성 = 4 2.1.KUBIR-2의 전체 시스템 = 6 2.2.하체골반 관절의 기구부 구성 = 9 2.3.로봇발의 기구부 구성 = 10 2.4.로봇의 관절 구동기의 설계 = 12 제 3 장 이족보행로봇의 기구학 및 동역학 해석 = 15 3.1.로봇 하체의 기구학 해석 = 15 3.2.자코비안 = 21 3.3.이족보행로봇의 동역학 방정식 유도 = 24 3.4.회전관절 공간의 로봇 동역학식 = 28 3.5.회전관절과 직선관절의 관계식 = 34 3.5.1 골반 회전관절과 직선관절 간의 관계식 = 35 3.5.2 무릎 회전관절과 직선관절 간의 관계식 = 37 3.5.3 발목 회전관절과 직선관절 간의 관계식 = 38 3.5.4 적선운동 관절 공간에서의 제어입력 = 40 3.5.5 적선관절 공간의 동역학식 = 41 3.6. 시뮬레이션 = 42 제 4 장 로봇의 관절 구동기 해석 = 53 4.1.사절링크 볼나사 공간의 구동기 부하토크 해석 = 53 4.2.사절링크 구동기의 성능시험 = 59 제 5 장 결론 = 66 참고문헌 = 68 | - |
| dc.language | kor | - |
| dc.publisher | 한국해양대학교 대학원 기계공학과 | - |
| dc.title | 12자유도 이족보행로봇의 설계 및 동역학 해석 | - |
| dc.title.alternative | Design and Dynamic Analysis of Biped Walking Robot with 12 D.O.F | - |
| dc.type | Thesis | - |
| dc.date.awarded | 2006-02 | - |
| dc.contributor.alternativeName | Oh | - |
| dc.contributor.alternativeName | Ju-Hwan | - |
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