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Leg Propulsion Mechanism Design of a Lizard Inspired Robot
도마뱀을 모사하는 소형고속주행 로봇의 추력발생 기구부의 설계

DC Field Value Language
dc.contributor.advisor김종원-
dc.contributor.author김홍민-
dc.date.accessioned2017-07-14T03:37:40Z-
dc.date.available2017-07-14T03:37:40Z-
dc.date.issued2015-02-
dc.identifier.other000000026603-
dc.identifier.urihttps://hdl.handle.net/10371/123830-
dc.description학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부, 2015. 2. 김종원.-
dc.description.abstractBased on a previous research that verified the effects of lateral undulation of a bipedal running lizard, Callisaurus Draconoides, a novel robotic system was proposed. For this novel robotic system, the leg mechanism that resembles the running characteristics of the real lizard is the most important component in successfully developing the robot. This study focused on the synthesis of a leg propulsion mechanism of a lizard inspired robot. As a first step, data from a running lizard was acquired by a motion captured video. The four bar mechanism was utilized in mimicking the trajectory of the feet of the lizard, and optimization scheme was applied to determine the optimal lengths of the links of the proposed mechanism. Finally, running experiment was carried out with the designed leg mechanism on a treadmill, concluded with a performance analysis-
dc.description.tableofcontentsContents

Abstract 2
Contents 3
1 Introduction 7
1.1 Research background 7
1.2 Previous study on the lizards running 8
1.3 Research goals and contributions 10
2 Analysis on the biomimetic target 12
2.1 Running characteristics 14
2.2 Mechanism type for the leg 18
2.3 Leg motion extraction and function approximation 21
3 Mechanism synthesis 25
3.1 Design variables and constraints of four bar linkage 25
3.2 Four bar linkage optimization 28
3.3 CAD design of the overall structure 31
4 Prototype production and experiment 34
4.1 Prototype production 34
4.2 Test bench setup 36
4.3 Leg mechanism drive experiment 37
5 Conclusion 39
Bibliography 40
Abstract in Korean 41
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dc.formatapplication/pdf-
dc.format.extent1875553 bytes-
dc.format.mediumapplication/pdf-
dc.language.isoen-
dc.publisher서울대학교 대학원-
dc.subject생체모사-
dc.subject도마뱀 로봇-
dc.subject다리 메커니즘-
dc.subject4절링크-
dc.subject설계 최적화-
dc.subject.ddc621-
dc.titleLeg Propulsion Mechanism Design of a Lizard Inspired Robot-
dc.title.alternative도마뱀을 모사하는 소형고속주행 로봇의 추력발생 기구부의 설계-
dc.typeThesis-
dc.description.degreeMaster-
dc.citation.pages41-
dc.contributor.affiliation공과대학 기계항공공학부-
dc.date.awarded2015-02-
Appears in Collections:
College of Engineering/Engineering Practice School (공과대학/대학원)Dept. of Mechanical Aerospace Engineering (기계항공공학부)Theses (Master's Degree_기계항공공학부)
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