12자유도 이족보행로봇의 설계 및 동역학 해석

Abstract

In this paper, design modification was performed to improve the structure of ex-developed 12 D.O.F walking robot, KUBIR-1 similar with human beings. The motion of KUBIR-1 was slow and had a limited walking space. Hence I designed an improved BWR named KUBIR-2 with 12 degree of freedom.

KUBIR-2 was designed to solve the following problems of KUBIR-1. First, KUBIR-2 was more simply designed in the four-bar-link mechanism, and its weight was reduced. Second, it had the built-in controller and motor driver. Third, walking velocity of KUBIR-2 was increased by improvement of speed and motion joint angle range. In addition to these, we modified the structure of the foot for more stable walking.

The torque analysis was performed acting on the joint of robot by modeling the kinematics and dynamics of the robot. Load torque of the joint actuator was analyzed for forward walking motion, and was compared with theoretic analysis. Through the experiment, the theoretic analysis on the torque performance of joint actuators was verified.