복합 링크기구를 이용한 다족 보행로봇

다국어 초록 (Multilingual Abstract)

Generally, multi-legged walking robots have excellent mobility in rough and uneven terrain, and they are deployed for the safety of rescuers in various disaster environments. However, as each leg is driven by a number of actuators, it leads to a complicated structure and high power consumption; therefore, it is difficult to put them into practical use. In this article, a new concept is proposed of a walking robot whose legs are driven by a complex linkage structure to overcome the deficiencies of conventional multi-legged walking robots. A double crank-rocker mechanism is proposed, making it possible for one DC motor to actuate the left and right movements of two neighboring thighs of the multi-legged walking robot. Each leg can also move up and down through an improved cam structure. Finally, each mechanism is connected by spur and bevel gears, so that only two DC motors can drive all legs of the walking robot. The feasibility of the designed complex linkage mechanism was verified using the UG NX program. It was confirmed through actual production that the proposed multi-legged walking robot performs the desired motion.

목차 (Table of Contents)

• ABSTRACT
• 1. 서론
• 2. 개념설계
• 3. 상세설계 및 제작
• 4. 결론
• REFERENCES

참고문헌 (Reference)

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2 김병호, "다족 로봇을 위한 효과적인 보행 패턴 분석" 한국지능시스템학회 19 (19): 622-628, 2009

3 Murphy, M. P., "The LittleDog robot" 30 (30): 145-149, 2011

4 Uicker, J. J., "THEORY OF MACHINES AND MECHANISMS" ITC 2010

5 Kim, M. J., "Study on the design and control of quadruped walking robot mechanism" 540-541, 2018

6 Faigl, J., "Adaptive locomotion control of hexapod walking robot for traversing rough terrains with position feedback only" 116 : 136-147, 2019