4족 병렬기구 보행로봇의 능수능란성에 관한 연구

다국어 초록 (Multilingual Abstract)

This paper analyzes the dexterity of a four legged parallel walking robot. Topology design is conducted for a leg mechanism composed of four legs, base and ground, which constitute a redundant parallel mechanism. This mechanism is subdivided to four sub-mechanism composed of three legs. A motor vector is adopted to determine the 6x8 Jacobian of the redundant parallel mechanism and the 6x6 Jacobian of the sub-mechanisms, respectively. The condition number of the Jacobian matrices is used as an index to measure a dexterity. We analyze the condition numbers of the Jacobians over the positional walking space and the orientational walking space.
The analysis shows that a sub-mechanism has lots of singularities within workspace but they are removed by a redundant parallel mechanism improving a dexterity. From the results, we can propose a parallel typed walking robot to enlarge walking space and stability region. The robot is designed by inserting an intermediate mechanism between upper and lower leg mechanisms. The robot is reasonably small so that it can climb from a floor to a wall.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 3단 병렬기구 보행로봇
• 3. 다리기구의 설계
• 4. 다리기구의 기구학해석
• 5. 능수능란성 해석
• 6. 결론
• 후기
• 참고문헌