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

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dc.contributor.advisorKim, Soohyun-
dc.contributor.advisor김수현-
dc.contributor.advisorKim, Kyung Soo-
dc.contributor.advisor김경수-
dc.contributor.authorKramarczyk, Michal Jan-
dc.contributor.author크라말츠크, 마이클-
dc.date.accessioned2017-03-28T07:19:20Z-
dc.date.available2017-03-28T07:19:20Z-
dc.date.issued2016-
dc.identifier.urihttp://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=663308&flag=dissertationen_US
dc.identifier.urihttp://hdl.handle.net/10203/221230-
dc.description학위논문(석사) - 한국과학기술원 : 기계공학과, 2016.8 ,[vi, 57 p. :]-
dc.description.abstractIn 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.-
dc.languageeng-
dc.publisher한국과학기술원-
dc.subjectdelta robot-
dc.subjectbiped robot-
dc.subjectkinematics-
dc.subjectdynamics-
dc.subjectbipedal walking-
dc.subject델타 구조-
dc.subject의 두발-
dc.subject로봇-
dc.subject타당성-
dc.subject3 자유도-
dc.titleAnalysis and feasibility of delta type leg for a biped robot = 이족보행로봇을 위한 델타 형식의 다리 분석 및 가능성 연구-
dc.typeThesis(Master)-
dc.identifier.CNRN325007-
dc.description.department한국과학기술원 :기계공학과,-
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