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국내 최대 기계 및 로봇 연구정보
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  • 시편연마기 Minitech 233~365 series
  • 국내학술지

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    국내학술지 제목 게시판 내용
    제목(국문) 로봇발전과 기구학의 역할
    제목(영문) The Role of Kinematics in Robot Development
    저자 염영일 (Youngil Youm ,School of Mechanical&Advanced Material Engineering, Ulsan National Institute of Science and Technology ) ▷공저자네트워크등록하기
    초록
    초록(영문)
    This is the survey paper on the role of kinematics in robot development. The robot is considered as a form of mechanical systems which includes closed-chain loop system, open-chain loop system and closed md open switching system. To analyze these systems, kinematic notations has been developed in kinematics of mechanical theoiy since 1955 and has been applied in robotics. Several kinematic notations including Denavit-Hartenberg notations have been reviewed. The status of development of the spherical motor which has a great impact on the future robot advancement has reviewed, and research activity on a spherical motor and its application to 3-D spatial mechanisms at UNIST is introduced. For the open and closed switching mechanical systems,the bipedal robots’ walking theories using Zero Moment Point are reviewed. And current status regarding bipedal robots based on newly developed passive dynamic walking theoiy is reviewed with the research activity at UNIST on this subject.
    keyword robot, kinematics, kinematic notations, biomechanics,human gait, bipedal robot, spherical motor, passive walking
    저널명 제어로봇시스템학회논문지 ▷관련저널보기
    VOL 20
    PAGE 333-344
    발표년도 2014
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