자동차용 윈도우 모터를 이용한 보행로봇 구동부 설계
The driving system design of walking robot which uses the automotive window motor
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초록
Driving mechanism, the central part of a robot, was designed in this study. Power for the motive drive was acquired by directly connecting the motor shaft in worm shape of the low-end DC motor, car window motor, to a decelerator. The decelerator consists of a worm gear to receive power from the motor shaft, a pinion gear to be connected in line with the worm gear, and an output shaft to be engaged to the pinion gear. Motion driving is achieved by the power from the motor shaft with the designed gears, transferred to the deceleration mechanism and to the output gear
Abstract
Driving mechanism, the central part of a robot, was designed in this study. Power for the motive drive was acquired by directly connecting the motor shaft in worm shape of the low-end DC motor, car window motor, to a decelerator. The decelerator consists of a worm gear to receive power from the motor shaft, a pinion gear to be connected in line with the worm gear, and an output shaft to be engaged to the pinion gear. Motion driving is achieved by the power from the motor shaft with the designed gears, transferred to the deceleration mechanism and to the output gear
참고문헌 (6)
- Rosheim, M. E, "robot Evolution" (1994), John Wiley & Sons
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- D.J. pack, "A simplified forward gait control for a quadruped walking robot", Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE, GI International Conference on Volum:2, pp.1994[DOI]
- M.Schneider, "Force based motion control of the walking machine ALDURO using exact linearization methods", Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE, 1999, 537~542
- G.Muller, "Mwchatronic models for simulation and model based control of the walking machine ALDURO", Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE, 1999, 543~548
- J. Muller, "Modeling, simulation, and model-based control of the walking machine ALDURO", Mechatronics, IEEE, 2000, 142~152