3 Degree-of-Freedom Mechanism based on Tensegrity to Mimic Human Shoulder Motion
- Title
- 3 Degree-of-Freedom Mechanism based on Tensegrity to Mimic Human Shoulder Motion
- Other Titles
- 인간의 어깨동작을 모방한 텐서그리티 기반 3자유도 메커니즘
- Author
- 이냉설
- Alternative Author(s)
- 이냉설
- Advisor(s)
- 최영진
- Issue Date
- 2020-08
- Publisher
- 한양대학교
- Degree
- Master
- Abstract
- This thesis proposes a 3-DOF joint mechanism inspired by tensegrity; this mechanism
can simulate the motion of the human shoulder joint. Since it is a tensegrity structure, it is
composed of strings and rigid bodies. The string used in tensegrity can only bear tension,
while a rigid body can bear both tension and pressure. In tensegrity-based joints, rigid
bodies do not contact each other, and the joints have certain flexibility. This structure is
composed of three mutually perpendicular rotating axes, which combine the advantages of
hard robot's rigidity and soft robot's flexibility.
Considering the complexity of the robot working environment and the need for frequent
contact with humans. The robot with a certain flexible joint cannot only protect its
mechanism from damage to a certain extent but can also avoid human injury due to contact
with the robot. Therefore, this type of 3-DOF mechanism has built-in flexibility and
lightweight due to the properties of tensegrity.
Every joint the proposed structure is inspired by the tensegrity, which is composed of strings and rigid bodies under tension or compression. It belongs to the class 1 tensegrity
structure, in which the rigid bodies do not contact each other. So it has the characteristics
of flexibility.
It is composed of a rotary structure and a structure similar to a universal joint. 3 rigid
bodies and 16 steel wires. Steel wires connected to the respective motors drive the rotating
shafts of this joint mechanism. The range of each rotation axis is close to the range of
human arm motion and verified by experimental verification.
- URI
- https://repository.hanyang.ac.kr/handle/20.500.11754/153197http://hanyang.dcollection.net/common/orgView/200000438008
- Appears in Collections:
- GRADUATE SCHOOL[S](대학원) > DEPARTMENT OF ELECTRICAL AND ELECTRONIC ENGINEERING(전자공학과) > Theses (Master)
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