Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 1996.04a
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- Pages.309-312
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- 1996
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- 2005-8446(pISSN)
유니사이클 로봇의 링크 시스템에 대한 운동학적 해석
Abstract
In view of physical mechanics, unicycle's dynamical system is a very sensitive system. Mechanical unicycle's structure has mechanical components of wheel, body frame, driving actuator and several mechanical elements. Mechanical unicycle is closed link system. Each component is chained with the others. For design of unicycle robot. we must decide the sizes, masses, positions of mechanical components throughout kinematics and kinetics analysis of unicycle robot. In this paper, we analized driving and closed link mechanism of unicycle robot
Keywords