Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Analysis on Torques of Shoulder and Elbow Joints of Humanoid Robot Arm for Lifting Tasks

리프팅 작업을 위한 인간형 로봇 팔의 어깨와 팔꿈치 관절 토오크 분석

  • Kim, Byoung-Ho (Biomimetics, Robotics and Wellness Lab., Dept. of Mechatronics Eng., Kyungsung University)
  • 김병호 (경성대학교 메카트로닉스공학과 생체모방, 로봇 및 웰니스 연구실)
  • Received : 2015.03.22
  • Accepted : 2015.05.20
  • Published : 2015.06.25
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Abstract

This paper analyses the torque characteristics of the shoulder and elbow joints of a humanoid robot arm that is useful for an object lifting and transferring task instead of human beings. For the purpose, some typical human lifting behaviors are considered, and various simulations for lifting and transferring an object have been performed by employing a humanoid robot arm having a simple configuration of shoulder and elbow joints. Through the simulation, it is shown that the torque patterns and ranges of the shoulder and elbow joints required for such a humanoid lifting and transferring task can be found earlier in the design of a humanoid robot arm. As a result, this effort is useful for us to design an effective robot arm.

본 논문에서는 어떤 물체를 들어 올려서 전달하는 인간의 작업을 대신 수행하기 위한 인간형 로봇 팔의 어깨 및 팔꿈치 관절의 토오크 특성을 분석하고자 한다. 이러한 목적을 달성하기 위하여 인간의 일상적인 물체의 리프팅 행동을 고려하고, 단순한 구조의 어깨와 팔꿈치 관절을 갖는 인간형 로봇 팔 모델을 사용하여 어떤 물체를 다양한 경로로 이송하는 시뮬레이션을 수행한다. 이러한 시뮬레이션을 통하여 인간형 로봇 팔을 이용한 물체의 이송 작업에 있어서 요구되는 어깨 및 팔꿈치 관절의 토오크 패턴 및 범위를 사전에 파악할 수 있음을 보인다. 결과적으로, 이러한 어깨 및 팔꿈치 관절의 토오크 분석은 효과적인 로봇 팔 메커니즘 설계에 유용하게 활용될 수 있다.

Keywords

References

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