고중량물 이송가능한 이족보행로봇의 개발

다국어 초록 (Multilingual Abstract)

In this paper, for moving heavy object a new type of human-sized Biped Walking Robot, KUBIR2, driven by the closed-chain type of joint actuator was developed Kubir2 is totally composed of29 degree-of-freedom as head is 4 d.o.f, arms are 12 d.o.f, legs are 12 d.o.fand waist is 1 d.o.f.
The weight of the robot is 75(Kg) with 160㎝ tall, but the robot is designed to be capable of supporting 120Kg. The weight of one arm is light enough to be 9kg but capable of delivering 10㎏ load.
Linear movement of joint actuators is composed of the four-bar-link mechanism driven by the ball screw which has high strength and high gear ratio. The control system of the robot is developed by using embedded computer and TMS320LF2407 DSP microprocessors. Each joint actuator is controlled by using DSP microprocessors. The communication system between the main controller and joint controllers is developed using the CAN communication system. The performance of the developed robot was validated through walking experiments with supporting 15(㎏) load.

목차 (Table of Contents)

• ABSTRACT
• 1. 서론
• 2. 이족보행로봇의 기구적 구조
• 3. 이족보행로봇의 제어시스템
• 4. 이족보행로봇의 구조