동적 특성을 고려한 휴머노이드 하체 부품의 구조최적설계
- Title
- 동적 특성을 고려한 휴머노이드 하체 부품의 구조최적설계
- Other Titles
- Structural Optimization of the Lower Parts in a Humanoid Considering Dynamic Characteristics
- Author
- 박경진
- Keywords
- Humanoid(휴머노이드); Structural Optimization(구조최적설계); Equivalent Static Load(등가정하중); Multibody Dynamics(다물체동역학)
- Issue Date
- 2008-10
- Publisher
- 대한기계학회
- Citation
- 대한기계학회논문집 A, v. 32, No. 10, Page. 882-889
- Abstract
- A humanoid is a robot with its overall appearance based on that of the human body. When the humanoid moves or walks, dynamic forces act on the body structure. Although the humanoid keeps the balance by using a precise control, the dynamic forces generate unexpected deformation or vibration and cause difficulties on the control. Generally, the structure of the humanoid is designed by the designer’s experience and intuition. Then the structure can be excessively heavy or fragile. A humanoid design scenario for a systematic design is proposed to reduce the weight of the structure while sufficient strength is kept. Lower parts of the humanoid are selected to apply the proposed design scenario. Multi-body dynamics is employed to calculate the external dynamic forces on the parts and structural optimization is carried out to design the lower parts. Because structural optimization using dynamic forces directly is fairly difficult, linear dynamic response structural optimization using equivalent static loads is utilized. Topology and shape optimizations are adopted for two steps of initial and detailed designs, respectively. Various commercial software systems are used for analysis and optimization. Improved designs are obtained and the design results are discussed.
- URI
- http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE01061016https://repository.hanyang.ac.kr/handle/20.500.11754/104984
- ISSN
- 1226-4873
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > MECHANICAL ENGINEERING(기계공학과) > Articles
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