줄 인형의 2차원 이동 및 회전을 위한 자석기반 전 방향 로봇시스템
Omni-directional Mobile Robot for 2D Translation and Rotation of a Puppet using Magnet
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초록
Marionette controlling robot has a problem that generates interference in rotation and intersection, therefore, the research on the independent shifter to move freely on the stage is required. Connecting omni-directional mobile robot with marionette controlling robot can solve this problem. Omni-directional mobile robot makes itself rotate and translate in 2D plane freely. Magnetic device is used to connect the moving part with the control part of the robot to minimize the intereference generated by the movement of robot. When robot moves, it can move to all directions with the suitalbe setting of banlance power. The moment of inertia is minimized by dividing the robot to the upper and lower parts in the marionette performance stage. Rotation and interference problem of independent omni-wheel Robot can be solved by using the permanent magnet. The efficiency and safety of the marionette controlling robot is proved by the experiment
Abstract
Marionette controlling robot has a problem that generates interference in rotation and intersection, therefore, the research on the independent shifter to move freely on the stage is required. Connecting omni-directional mobile robot with marionette controlling robot can solve this problem. Omni-directional mobile robot makes itself rotate and translate in 2D plane freely. Magnetic device is used to connect the moving part with the control part of the robot to minimize the intereference generated by the movement of robot. When robot moves, it can move to all directions with the suitalbe setting of banlance power. The moment of inertia is minimized by dividing the robot to the upper and lower parts in the marionette performance stage. Rotation and interference problem of independent omni-wheel Robot can be solved by using the permanent magnet. The efficiency and safety of the marionette controlling robot is proved by the experiment
참고문헌 (7)
- I-Ming Chen, "Marionette: From Traditional Manipulation to Robotic Manipulation", International Symposium on History of Machines and Mechanisms, 통권 : 3, pp.119~133 (2007)
- Katsu Yamane, "Controlling a Motorized Marionette with Human Motion Capture Data", International Conference on Robotics & Automation, 통권 : 3, pp.3384~3841 (2003)
- Hwa-cho Yi, "Development of Detachable System of permanent Magnet Wheel for Mobile Robot", KSPE, pp.635~638 (2003)
- Eun-Toung Kim, "Development of a hull-plate moving robot with permanent magnets", KSME, pp.990~995 (2008)
- Dong-Joo Shin, "Optimal Design of an In-Wheel Permanent Magnet Synchronous Motor for mobile robot", KIEE, pp.668~689 (2007)
- J.H. Kim, "Development of Electromagnet wheel for vertical wall-climbing Mobile Robot", KSPE, pp.746~749 (2005)
- 한승철, "영구 자석 바퀴를 이용한 벽면 이동 로봇의 설계시의 제약 사항들에 대한 연구 (Part 2 - 이동체설계)", 한국정밀공학회지, 21(9), pp.77~84 (2004), 한국정밀공학회