인간의 움직임을 적용한 인체크기의 이족보행로봇 설계 및 기구학 해석

Abstract

This thesis is about 27 degree-of-freedom humanoid robot named KUBIR-3 which has height of 170cm and weight of 72kgf. KUBIR-3 is composed of four parts: the head, body, arms and legs. The head part is composed of two degree-of-freedom which are directly connected by the actuator motor and speed reducer. The body was designed to have one degree-of-freedom to give roll motion of the robot. The arms were designed to have six d.o.f where three joints are composed of the four-bar-link joint actuator and the other were designed to have the actuator motor with the speed reducer as the harmonic driver. The legs were designed to have six d.o.f. where three joints are composed of the four-bar-link joint actuator and the other were designed to have the actuator motor with the speed reducer as the harmonic driver. At the shoulder, elbow, and wrist joints of arms and at the thigh, knee, and ankle joints of legs, the four-bar link joint actuator was applied to transfer the heavy loads.

To analyze the kinematics of KUBIR-3, the D-H convention was applied to the joints of the robot. For this, the center of the robot body was selected as the base coordinate. Based on this, the relative positions of the arms and legs were defined. Also, using this, the inverse kinematics analysis was made.

The strain and stress analyses for links of the arm and leg of the KUBIR-3 were made by the FEM analysis using the CATIA. To do these, modeling of the arm and leg was made. The results of the simulation showed the safe design of the link of the arm and leg.

For the analysis of the four-bar link joint of KUBIR-3, static force equation according to the load torque was analyzed. The analyzed data of this equation showed the validity of the appropriate choosing of the actuator motors for supporting heavy loads. The case molding of the KUBIR-3 was designed and constructed based on the 3D modeling using the CATIA.