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3자유도 병렬형 허리 구조를 갖는 휴머노이드 로봇의 기구학 해석 및 검증
배영걸,정슬 제어로봇시스템학회 2009 제어로봇시스템학회 국내학술대회 논문집 Vol.2009 No.9
This article presents a kinematic analysis of a humanoid robot that has a combined structure of serial linkage and a parallel linkage structure. A humanoid robot arm is designed to have a waist structure for generating more humanlike motions. The 3 DOF parallel structure is connected as the waist of the humanoid robot. Simulation studies of verifying kinematics solutions of the serial-parallel robot structure have been done. Forward and inverse kinematics of a combined structure have been done. Forward and inverse kinematics of a combined structure of serial and parallel mechanisms have been analyzed to generate a variety of motions.