Optimal Design of Klann-based walking Mechanism for Water-running Robots

被引：1

作者：

Kim, HyunGyu ^{[1
]}

Choi, JaeNeung ^{[1
]}

Seo, TaeWon ^{[1
]}

Jeong, Kyungmin ^{[2
]}

机构：

[1] Yeungnam Univ, Sch Mech Engn, Kyongsan 712749, South Korea

[2] Korea Atom Energy Res Inst, Nucl Convergence Technol Div, Taejon 305353, South Korea

来源：

PROCEEDINGS OF THE FOURTEENTH INTERNATIONAL FEDERATION FOR THE PROMOTION OF MECHANISM AND MACHINE SCIENCE WORLD CONGRESS | 2015年

基金：

新加坡国家研究基金会;

关键词：

Amphibious robot; Klann mechanism; optimal design; level average analysis; BASILISK LIZARDS;

D O I：

10.6567/IFToMM.14TH.WC.OS13.001

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Recently, many studies have been conducted to develop robots inspired by living creatures, but these robots have limitations when operating in various environments. In previous research, we developed an amphibious robot that could operate on a water surface and on the ground. The robot has good stability, but its running speed is not sufficient. In this study, we optimized the Klann leg mechanism of the robot to increase the running speed based on water surface operation. First, we modeled the interaction force between the water and the feet of the robot. We also numerically calculated the running speed when operating on water as the object function of the optimization process. We optimized the running speed using level average analysis. The result of optimization was used for ground locomotion, and the optimized running speeds were compared with the results of previous research. The optimized Klann mechanism will be used as the leg mechanism in an amphibious robot for running on water or on the ground.

引用

页码：371 / 376

页数：6

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