한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 1993년도 춘계학술대회 논문집
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- Pages.315-319
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- 1993
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- 2005-8446(pISSN)
하이브리드형 로봇의 동역학적 모델링과 해석에 관한 연구
초록
A dynamic modeling, analysis, and optimum design issuess for the Hybrid type of robot are addressed. The dynamic modeling can be used to describe acceleration and velocity properties of the system explicitly in terms of the actuating forces is coded in C language based on the kinematic influence coefficients(KIC). By using this modeling simulation, the actuating forces needed for the robot follows the given trajectory are calculated. Also, for the design concept, the optimum geometric configuration of the system that minimizes the maximum actuating forces is found by using the optimization techique.
키워드