Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Optimal Design of Klann-linkage based Walking Mechanism for Amphibious Locomotion on Water and Ground

수면 지면 동시보행을 위한 Klann 기구 기반 주행메커니즘 최적설계

  • Kim, Hyun-Gyu (School of Mechanical Engineering, Yeungnam University) ;
  • Jung, Min-Suck (School of Mechanical Engineering, Yeungnam University) ;
  • Shin, Jae-Kyun (School of Mechanical Engineering, Yeungnam University) ;
  • Seo, TaeWon (School of Mechanical Engineering, Yeungnam University)
  • 김현규 (영남대학교 기계공학부) ;
  • 정민석 (영남대학교 기계공학부) ;
  • 신재균 (영남대학교 기계공학부) ;
  • 서태원 (영남대학교 기계공학부)
  • Received : 2014.06.09
  • Accepted : 2014.07.07
  • Published : 2014.09.01
Download PDF
⟨ Previous Next ⟩

Abstract

Walking mechanisms are very important for legged robots to ensure their stable locomotion. In this research, Klann-linkage is suggested as a walking mechanism for a water-running robot and is optimized using level average analysis. The structure of the Klann-linkage is introduced first and design variables for the Klann-linkage are identified considering the kinematic task of the walking mechanism. Next, the design problem is formulated as a path generation optimization problem. Specifically, the desired path for the foot-pad is defined and the objective function is defined as the structural error between the desired and the generated paths. A process for solving the optimization problem is suggested utilizing the sensitivity analysis of the design variables. As a result, optimized lengths of Klann-linkage are obtained and the optimum trajectory is obtained. It is found that the optimized trajectory improves the cost function by about 62% from the initial one. It is expected that the results from this research can be used as a good example for designing legged robots.

Keywords

References

  1. X. Huang and Y. Zhang, "Robust tolerance design for function generation mechanisms with joint clearances," Journal of Mechanism and Machine Theory, vol. 45, no. 9, pp. 1286-1297, 2010. https://doi.org/10.1016/j.mechmachtheory.2010.04.003
  2. F. C. Chen, Y. F. Tzeng, W. R. Chen, and M. H. Hsu, "The use of the Taguchi method and principal component analysis for the sensitivity analysis of a dual-purpose six-bar mechanism," Proc. of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, vol. 223, no. 3, pp. 733-741, 2009. https://doi.org/10.1243/09544062JMES1106
  3. J. H. Kim, S. R. Jin, J. W. Kim, T. W. Seo, and J. W. Kim, "Optimal design of a four-bar linkage manipulator for starfish-capture robot platform," Journal of the Korean Society for Precision Engineering, vol. 30, no. 9, pp. 961-968, 2013. https://doi.org/10.7736/KSPE.2013.30.9.961
  4. P. Birkmeyer, K. Peterson, and R. S. Fearing, "DASH: a dynamic 16g hexapedal robot," International Conference on Intelligent Robots and Systems, Oct. USA, 2009.
  5. J. R. Kim, J. W. Kim, D. K. Choi, and J. W. Kim, "Optimization of hind foot trajectory using four bar linkage for lizard inspired robot," Conference on Korean Society for Precision Engineering, September, Korea, 2012.
  6. S. W. Kim and D. H. Kim, "Kinematic analysis of a legged walking robot based on four-bar linkage and jansen mechanism," Journal of Korean Institute of Intelligent Systems, vol. 21, no. 2, pp. 159-164, 2011. https://doi.org/10.5391/JKIIS.2011.21.2.159
  7. S. W. Kim and D. H. Kim, "Design of leg length for a legged walking robot based on theo jansen using PSO," Journal of Korean Institute of Intelligent Systems, vol. 21, no. 5, pp. 660-666, 2011. https://doi.org/10.5391/JKIIS.2011.21.5.660
  8. N. G. Lokhande and V. B. Emche, "Mechanical spider by using Klann mechanism," International Journal of Mechanical Engineering & Computer Applications, vol. 1, no. 5, pp. 13-16, 2013.
  9. L. Xu, K. Cao, X. Wei, and Y. Shi, "Dynamic analysis of fluidstructure interaction for a biologically-inspired biped robot running on water," International Journal of Advanced Robotic Systems, vol. 10, pp. 373-379, 2013. https://doi.org/10.5772/57097
  10. H. G. Kim, J. H. Kim, B. H. Seo, and T. Seo, "Experimental study on rolling stability of quadruped and hexapedal water running robot," Journal of the Korean Society for Precision Engineering, vol. 30, no. 10, pp. 1023-1029, 2013. https://doi.org/10.7736/KSPE.2013.30.10.1023
  11. S. Floyd and M. Sitti, "Design and development of the lifting and propulsion mechanism for a biologically inspired water running robot," IEEE Transaction on Robotics, vol. 24, no. 3, pp. 698-709, 2008. https://doi.org/10.1109/TRO.2008.924258
  12. J. W. Glasheen and T. A. McMahon, "A hydrodynamic model of locomotion in the Basilisk Lizard," Nature, vol. 380, no. 28, pp. 340-342, 1996. https://doi.org/10.1038/380340a0