Analysis and feasibility of delta type leg for a biped robot = 이족보행로봇을 위한 델타 형식의 다리 분석 및 가능성 연구

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In biped robot locomotion, mostly a serial type legs have been used so far. This type of leg shows many disadvantages, like significant weight, low stiffness and poor disturbance rejection. All of the above result in high energy consumption and low stability. In this paper, an analysis of a new type of leg, i.e. three degrees of freedom delta type leg is investigated. First, a kinematic analysis of both delta and serial robot is performed, including forward and inverse kinematics calculation, visualisation of the robots and workspace analysis. Further, equations of motions for both robots are implemented and tested in Simmechanics environment. Finally, both models are compared in terms of performance in different walking scenarios. In this paper, it is shown that in specific scenarios, delta leg is superior to the serial type in terms of maximum torque and energy consumption.
Advisors
Kim, Soohyunresearcher김수현researcherKim, Kyung Sooresearcher김경수researcher
Description
한국과학기술원 :기계공학과,
Publisher
한국과학기술원
Issue Date
2016
Identifier
325007
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 기계공학과, 2016.8 ,[vi, 57 p. :]

Keywords

delta robot; biped robot; kinematics; dynamics; bipedal walking; 델타 구조; 의 두발; 로봇; 타당성; 3 자유도

URI
http://hdl.handle.net/10203/221230
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=663308&flag=dissertation
Appears in Collection
ME-Theses_Master(석사논문)
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