101 research outputs found
๋ฐฉํฅ ์ ํ, ๋์ฝ ๊ฐ๋ ์กฐ์ , ์์ธ ๊ต์ ์ด ๊ฐ๋ฅํ ์ ํ ๋ก๋ด
ํ์๋
ผ๋ฌธ (์์ฌ)-- ์์ธ๋ํ๊ต ๋ํ์ : ๊ณต๊ณผ๋ํ ๊ธฐ๊ณํญ๊ณต๊ณตํ๋ถ, 2019. 2. ์กฐ๊ท์ง.๋์ฝ ๋ก๋ด์ ๋ก๋ด ์์ ์ ํฌ๊ธฐ๋ณด๋ค ํฐ ์ฅ์ ๋ฌผ์ ๋์ด ์ด๋ํ ์ ์๋ค. ๋์ฝ ์ด๋๋ง์ผ๋ก ์ํ๋ ์์น์ ๋๋ฌํ๊ธฐ ์ํด ๋๋ฌ ๊ฐ๋ฅํ ๋ฒ์๋ฅผ ๋ํ ์ ์๋ ๋ฐฉํฅ ์ ํ, ๋์ฝ ๊ฐ๋ ์กฐ์ , ์์ธ ๊ต์ ๊ธฐ๋ฅ์ด ํตํฉ๋ ์ ํ ๋ก๋ด๋ค์ด ๊ฐ๋ฐ๋๋ค. ์ด ๋ ์ถ๊ฐ ๊ธฐ๋ฅ์ ํตํฉํ๋ฉด ๋ก๋ด์ ์ง๋์ด ์ฆ๊ฐํ๊ณ ๋์ฝ ์ฑ๋ฅ์ด ๊ฐ์ํ๋ฏ๋ก ์ง๋์ ์ค์ด๊ธฐ ์ํ ์ค๊ณ๊ฐ ํ์ํ๋ค. ๋ณธ ๋
ผ๋ฌธ์์๋ ๋ฐฉํฅ ์ ํ, ๋์ฝ ๊ฐ๋ ์กฐ์ , ์์ธ ๊ต์ ์ด ๊ฐ๋ฅํ ๋์ฝ ๋ก๋ด์ ์ ์ํ๋ฉฐ, ๋์ฝ ์ฑ๋ฅ ๊ฐ์๋ฅผ ์ต์ํํ๊ธฐ ์ํด ๋ฉ์ปค๋์ฆ๊ณผ ๊ตฌ๋๊ธฐ๋ฅผ ๊ณต์ ํ ์ ์๋๋ก ๋ก๋ด์ด ์ค๊ณ๋์๋ค. ๋ก๋ด์ ์ง๋์ 70.1 g์ผ๋ก ์ต๋ ๋์ด 1.02 m, ์ต๋ ๊ฑฐ๋ฆฌ 1.28 m๋ฅผ ๋์ฝํ ์ ์๋ค. ๋ํ, ์ ๋ฐฉํฅ์ผ๋ก ๋์ฝํ ์ ์์ผ๋ฉฐ, ๋ฐ๋ณต ๋์ฝ์ผ๋ก ๋ ๋จผ ๊ณณ์ ๋๋ฌํ ์ ์๋ค. ๋ก๋ด์ ๊ฑฐ๋์ ์์ธกํ ์ ์๋ ๋์ญํ ๋ชจ๋ธ์ ์ธ์ ์ผ๋ฉฐ, ๋ฏธ๋๋ฌ์ง์ด ์์ด ๋์ฝํ๋ ๊ฒฝ์ฐ๋ฟ๋ง ์๋๋ผ ๋ฏธ๋๋ฌ์ง์ด ํฌํจ๋ ๋์ฝ์ ๋ํด์๋ ๋ก๋ด์ ๊ฑฐ๋์ ํ์ธํ๊ณ ๋์ฝ ๊ถค์ ์ ๊ณํํ ์ ์๋ค. ๊ตฌ๋๊ธฐ์ ์๋ณด๋ค ๋ง์ ๊ธฐ๋ฅ์ ์๋ฅผ ๊ตฌํํ๋ ์ค๊ณ ๋ฐฉ๋ฒ์ ๋ค๋ฅธ ์ํ ๋ก๋ด์ ์ค๊ณ์ ์ ์ฉํ ์ ์์ ๊ฒ์ด๋ค. ์ด ๋ก๋ด์ ๋น์ ํ ํ๊ฒฝ์์ ์์, ์ ์ฐฐ ํน์ ํ์ฌ์ ๊ฐ์ ์๋ฌด๋ฅผ ์ํํ๋ ๋ฐ ํ์ฉ ๊ฐ๋ฅํ ๊ฒ์ด๋ค.Jumping enables the robot to overcome obstacles that are larger than its own size. In order to reach the desired location with only jumping, the jumping robots integrated with additional functions โsteering, adjusting the take-off angle, and self-righting โ have been developed to expand the reachable range of the robot. Design to reduce mass is required as the integration of additional functions increases the mass of the robot and reduces the jumping performance. In this thesis, a jumping robot capable of steering, adjusting the take-off angle, and self-righting is proposed with the design of actuator and mechanism sharing to minimize the jumping performance degradation. The robot, with a mass of 70.1 g jumps up to 1.02 m in vertical height, and 1.28 m in horizontal distance. It can change the jumping height and distance by adjusting the take-off angle from 40ยฐ to 91.9ยฐ. The robot can jump in all directions, and it can reach farther through multiple jumps. A dynamic model is established to predict the behavior of the robot and plan the jumping trajectory not only for jumping without slip but also for jumping with slip. The design method to implement more functions than the number of actuators can be applied to design other small-scale robots. This robot can be deployed to unstructured environments to perform tasks such as search and rescue, reconnaissance, and exploration.Abstract โ
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Contents โ
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List of Tables โ
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List of Figures โ
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Chapter 1. Introduction 1
1.1. Motivation 1
1.2. Research Objectives and Contributions 3
1.3. Research Overview 6
Chapter 2. Design 7
2.1. Jumping 8
2.2. Steering 10
2.3. Take-off Angle Adjustment 12
2.4. Self-Righting 13
2.5. Integration 16
Chapter 3. Analysis 19
3.1. Dynamic Modeling 19
3.2. Simulated Results 24
3.3. Jumping Trajectory Planning 33
Chapter 4. Result 35
4.1. Performance 35
4.2. Demonstration 40
Chapter 5. Conclusion 46
Bibliography 49
๊ตญ๋ฌธ ์ด๋ก 53Maste
Novel Integrated System Architecture for an Autonomous Jumping Micro-Robot
As the capability and complexity of robotic platforms continue to evolve from the macro to micro-scale, innovation of such systems is driven by the notion that a robot must be able to sense, think, and act [1]. The traditional architecture of a robotic platform consists of a structural layer upon which, actuators, controls, power, and communication modules are integrated for optimal system performance. The structural layer, for many micro-scale platforms, has commonly been implemented using a silicon die, thus leading to robotic platforms referred to as "walking chips" [2]. In this thesis, the first-ever jumping microrobotic platform is demonstrated using a hybrid integration approach to assemble on-board sensing and power directly onto a polymer chassis. The microrobot detects a change in light intensity and ignites 0.21mg of integrated nanoporous energetic silicon, resulting in 246ยตJ of kinetic energy and a vertical jump height of 8cm
A miniature 7g jumping robot
Jumping can be a very efficient mode of locomotion for small robots to overcome large obstacles and travel in natural, rough terrain. In this paper we present the development and characterization of a novel 5cm, 7g jumping robot. It can jump obstacles as high as more than 27 times its own size and outperforms existing jumping robots with respect to jump height per weight and jump height per size. It employs elastic elements in a four bar linkage leg system to allow for very powerful jumps and adjustment of jumping force, take off angle and force profile during the acceleration phase
Advances in Bio-Inspired Robots
This book covers three major topics, specifically Biomimetic Robot Design, Mechanical System Design from Bio-Inspiration, and Bio-Inspired Analysis on A Mechanical System. The Biomimetic Robot Design part introduces research on flexible jumping robots, snake robots, and small flying robots, while the Mechanical System Design from Bio-Inspiration part introduces Bioinspired Divide-and-Conquer Design Methodology, Modular Cable-Driven Human-Like Robotic Arm andWall-Climbing Robot. Finally, in the Bio-Inspired Analysis on A Mechanical System part, research contents on the control strategy of Surgical Assistant Robot, modeling of Underwater Thruster, and optimization of Humanoid Robot are introduced
Upgrading Thai Folk-Designed Rehabilitative Devices for Children with Cerebral Palsy: A Systematic Approach
Assistive devices born of indigenous inventiveness possess great potential for systematic refinement through the use of modern design technologies. This paper presents a product development process that began with the selection of suitable folk-designed devices for incorporating into a single new product โ an integrated assistive device for children afflicted with cerebral palsy. The process then followed the procedures given by the Sensuous Association Method (SAM) and the Theory of Inventive Problem Solving (TRIZ) to arrive at an optimal design. The finished product incorporates functions for rehabilitating five neuro-motor skills of the afflicted children. After six months of field testing with a sample of nine users, the new product was found to deliver statistically significant benefits to the trial users, i.e. overall strengthening of their gross motor functions. Their sitting skill, in particular, was found to have improved the most
Path Tracking and Connection Mechanism of a Reconfigurable, Foldable, Legged, and Miniature Robot
This work introduces the reconfigurable, foldable, legged, and miniature robot (REMIRO), a palm-size modular robot with compliant c-shaped legs. The robotโs body modules are made by folding acetate sheets. The legs connected to these modules are made of Polydimethylsiloxane (PDMS) using molding. The backbone modules are made of Thermoplastic polyurethane (TPU) using 3D printing. In this study, we propose a path tracking algorithm for our robot that enables our modules to move from a random initial location to the pose required to lock with another module. We also design and manufacture backbones with embedded permanent magnets to allow connection between modules. We also present a kinematic model of our robot utilizing c-shaped leg kinematics, predicting the forward differential kinematics of the robot, which is then used to test the path tracking algorithm. Our experiments show that the proposed path tracking algorithm moves our robot to the desired location with an average positioning error of 5mm and an average orientation error of 22ยฐ, which are small enough to permit docking between modules
Bio-Inspired Robotics
Modern robotic technologies have enabled robots to operate in a variety of unstructured and dynamically-changing environments, in addition to traditional structured environments. Robots have, thus, become an important element in our everyday lives. One key approach to develop such intelligent and autonomous robots is to draw inspiration from biological systems. Biological structure, mechanisms, and underlying principles have the potential to provide new ideas to support the improvement of conventional robotic designs and control. Such biological principles usually originate from animal or even plant models, for robots, which can sense, think, walk, swim, crawl, jump or even fly. Thus, it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. Bio-inspired robotics is leading to the study of innovative structures and computing with sensoryโmotor coordination and learning to achieve intelligence, flexibility, stability, and adaptation for emergent robotic applications, such as manipulation, learning, and control. This Special Issue invites original papers of innovative ideas and concepts, new discoveries and improvements, and novel applications and business models relevant to the selected topics of ``Bio-Inspired Robotics''. Bio-Inspired Robotics is a broad topic and an ongoing expanding field. This Special Issue collates 30 papers that address some of the important challenges and opportunities in this broad and expanding field
Design, fabrication and control of soft robots
Conventionally, engineers have employed rigid materials to fabricate precise, predictable robotic systems, which are easily modelled as rigid members connected at discrete joints. Natural systems, however, often match or exceed the performance of robotic systems with deformable bodies. Cephalopods, for example, achieve amazing feats of manipulation and locomotion without a skeleton; even vertebrates such as humans achieve dynamic gaits by storing elastic energy in their compliant bones and soft tissues. Inspired by nature, engineers have begun to explore the design and control of soft-bodied robots composed of compliant materials. This Review discusses recent developments in the emerging field of soft robotics.National Science Foundation (U.S.) (Grant IIS-1226883
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