원형구조 3자유도 6족 로봇의 성능실험에 관한 연구

• 영문명: A Study on the Performance Experiment of Circle Type 3 Degree of Freedom 6 Legged Robot
• 발행기관: 한국산업기술융합학회(구. 산업기술교육훈련학회)
• 저자명: 박선진(Sun-Jin Park) 이능호(Neung-Ho Lee)
• 간행물 정보: 『산업기술연구논문지』산업기술교육훈련논문지 제21권 1호, 17~24쪽, 전체 8쪽
• 주제분류: 공학 > 공학일반
• 파일형태: PDF
• 발행일자: 2016.03.30

영문 초록

I embodied circle type 3-DOF 6 legged robot in order to install servomotor to maximum 24 in a process. 18 servomotor are used in joints for walk, and 6 servomotor was made so that you can use it in work achievement as robot later. Walking comparison is carried out for the experiment of horizontal type 2 line 2-DOF 6 legged robot in order to test efficiency of embodiment circle. According to testing result, circle type 3-DOF 6 legged robot could do average walking time with horizontal 2 line 6 legged robot as forward walking. Its 360° turning abilitys at place is two times faster than other robot in average walking time. It walked average 5sec faster than other robot in the target turning test and 45° sharp curve. Its center change was ±5mm stabler than other in horizontal walking type 3-DOF 6 legged robot. This showed that it can reduce robot s sensor error and has capability to work a chievement as horizontal migration. A load test shows possibility as work robot afterward because it walked straight in the central axis with 2.5kg load such as circle 3-DOF 6 legged robot. According to the result of experiment, circle 3-DOF 6 legged robot has more advantage as demand a lot of rotations or walk in a rapid radius of rotation.

목차

Ⅰ. 서 론

Ⅱ. 실 험

Ⅲ. 실험결과 및 고찰

Ⅳ. 결 론

키워드

Circle Tpe 3-DOF(원형구조 3자유도) 6 Legged Robot(6족로봇)