Proceeding of EDISON Challenge (EDISON SW 활용 경진대회 논문집)
- 2016.03a
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- Pages.384-388
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- 2016
A Research about optimum design of the walking robot using Jansen mechanism
얀센 메커니즘을 이용한 보행로봇의 최적설계에 관한 연구
- YONGZHU, JIN (Dept. of Mechanical Engineering, Yonsei University) ;
- Chi, Hyoung Geun (Dept. of Mechanical Engineering, Yonsei University)
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- 지형근 (연세대학교 기계공학부)
- Published : 2016.03.22
Abstract
This paper proposed a m.Sketch to search the optimal link lengths for a legged walking robot. In order to apply the m.Sketch for the proposed, set the design parameters of the constraints and use the m.Skecth to get optimal GL(Groud Length) and GAC(Ground Angle Coefficient). The legged robot designed based on four-bar linkage theory and Theo Jansen mechanism. The stride length of the legged walking robot was defined based on the proposed kinematic analysis. Use the Edison Design m.Sketch simulate and find the optimal link length having the best of the Ground Length (GL) and Ground Angle Coefficient(GAC). And use these length implemented the Theo Jansen mechanism both in Science box parts and acrylic. In addition to the further expansion of the legs to reach the goaltranslating heavy objects or person.