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Quasi-Static Crawling System Using a Four Bar Mechanism

4절 메커니즘을 이용한 준정적 포복 시스템

  • 김해수 (인천기능대학 컴퓨터기계설계과) ;
  • 김민건 (강원대학교 기계·메카트로닉스) ;
  • 임남식 (고려대학교 대학원 제어계측공학과) ;
  • 김희국 (고려대학교 제어계측공학과) ;
  • 이병주 (한양대학교 전자컴퓨터공학부)
  • Published : 2002.03.01

Abstract

In this work, the quasi-static crawling of the four-bar mechanism is investigated. Since the crawling of the mechanism is based on sliding of contact points of the mechanism with the ground, interaction forces and friction forces at contact points of the mechanism with the ground should be computed. For this purpose, we introduce the concept of imaginary joints to find these forces and treat the closed mechanism as a serial one. Lastly, the required torques for the mechanism to crawl with respect to various configurations of the mechanism on a flat ground with uniform friction coefficient, based on sliding conditions of the mechanism in quasi-static equilibrium, are investigated.

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