Journal of the Korean Society of Manufacturing Process Engineers (한국기계가공학회지)

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
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Leg Structure based on Counterbalance Mechanism for Environmental Adaptive Robot

환경 적응형 로봇의 기계식 중력보상 기반 다리 구조

  • Park, Hui-Chang (Korea Institute of Robotics & Technology Convergence) ;
  • Oh, Jang-Seok (Korea Institute of Robotics & Technology Convergence) ;
  • Cho, Yong-Jun (Korea Institute of Robotics & Technology Convergence) ;
  • Yun, Hae-Yong (Korea Institute of Robotics & Technology Convergence) ;
  • Hong, Hyung-Gil (Korea Institute of Robotics & Technology Convergence) ;
  • Kang, Min-Su (Korea Institute of Robotics & Technology Convergence) ;
  • Park, Kwan-Hyung (Korea Institute of Robotics & Technology Convergence) ;
  • Song, Jae-Bok (Dept. of Mechanical Engineering, Korea University)
  • 박희창 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 오장석 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 조용준 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 윤해룡 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 홍형길 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 강민수 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 박관형 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 송재복 (고려대학교 기계공학과)
  • Received : 2022.05.28
  • Accepted : 2022.07.08
  • Published : 2022.08.31
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Abstract

As the COVID-19 continues, the demand for robotic technology that can be applied in face-to-face tasks such as delivery and transportation, is increasing. Although these technologies have been developed and applied in various industries, the robots can only be operated in a tidy indoor environment and have limitations in terms of payload. To overcome these problems, we developed a 2 degree of freedom(DOF) environmental adaptive robot leg with a double 1-DOF counterbalance mechanism (CBM) based on wire roller. The double 1-DOF CBM is applied to the two revolute joints of the proposed robot leg to compensate for the weight of the mobile robot platform and part of the payload. In addition, the link of the robot leg is designed in a parallelogram structure based on a belt pulley to enable efficient control of the mobile platform. In this study, we propose the principle and structure of the CBM that is suitable for the robot leg, and design of the counterbalance robot leg module for the environment-adaptive control. Further, we verify the performance of the proposed counterbalance robot leg by using dynamic simulations and experiments.

Keywords

Acknowledgement

본 결과물은 농림축산식품부의 재원으로 농림식품기술기획평가원의 첨단생산기술개발사업 및 첨단농기계산업화기술개발사업 기술사업화지원사업 노지분야스마트농업기술단기화고도사업의 지원을 받아 연구되었음 (317072-04, 320028-03,122053-03,322041-02).

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