이족보행로봇의 양팔 설계 및 동역학 해석

Abstract

In this paper, I designed and constructed two light-weighted 12 d.o.f robot arms for the humanoid robot and studied its kinematics model. The weight of one arm is light enough to be 9 Kg but capable of delivering 10Kg pay load.

To find out the characteristics of the robot arm, an analysis on the kinematics and dynamics was performed. For appropriate design of the motor capacity, a computer simulation based on the analysis on the kinematics and dynamics was performed. Through this, the required torques for delivering the payload were capable of measuring.

Since an ultra-light robot arm despite of heavy pay load was designed, an FEM analysis was performed using ANSYS tool to estimate deformation of the robot link. The accuracy of the analysis was verified through the actual pay load test measuring the deformation of the robot link.