五節リンク機構を用いたロボットトカゲの設計と解析
Design and Analysis of a Robotic Lizard using Five-Bar Mechanism
五節リンク機構を組み合わせてトカゲ型ロボットの脚を駆動する新しい機構を設計し、ベクトルループ法による位置解析とサーボモータ制御のプロトタイプで検証した論文。
著者: Rajashekhar V S, Dinakar Raj C K, Vishwesh S, Selva Perumal E, Nirmal Kumar M
分類: cs.RO
原文アブストラクト
Legged robots are being used to explore rough terrains as they are capable of traversing gaps and obstacles. In this paper, a new mechanism is designed to replicate a robotic lizard using integrated five-bar mechanisms. There are two five bar mechanisms from which two more are formed by connecting the links in a particular order. The legs are attached to the links of the five bar mechanism such that, when the mechanism is actuated, they move the robot forward. Position analysis using vector loop approach has been done for the mechanism. A prototype has been built and controlled using servo motors to verify the robotic lizard mechanism.
