Reach volume의 측정과 로보트 기구학을 이용한 해석적 생성의 비교

When designing workplaces or arranging controls on panel, devices and controls should be placed within the reach of operator's arm or foot to guarantee effective performances. Most of the existing research on the reach volume were based on measurements of a few subject's arm reach, and limited to Caucasian and Chineses populations, and foot reach and trunk motion have been excluded. Range of human joint motion and that of two degrees of freedom motion are needed to generate reach volume analytically using the sweeping algorithm. Therefore, in this research, range of two degrees of reedom motion was measured, in which 47 college students were participated volumtarily as subjects. Second, new approximate algorithms generating reach volumes were suggested based on the robot kinematics, in which range of two degrees of freedom motion was considered. Our analytically generated reach volume showed statistically reasonable results when compared with that obtained from direct measurement.