원형구조 3자유도 6족 로봇의 성능실험에 관한 연구

A Study on the Performance Experiment of Circle Type 3 Degree of Freedom 6 Legged Robot

I embodied circle type 3-DOF 6 legged robot in order to install servomotor to maximum 24 in a process. 18 servomotor are used in joints for walk, and 6 servomotor was made so that you can use it in work achievement as robot later. Walking comparison is carried out for the experiment of horizontal type 2 line 2-DOF 6 legged robot in order to test efficiency of embodiment circle. According to testing result, circle type 3-DOF 6 legged robot could do average walking time with horizontal 2 line 6 legged robot as forward walking. Its 360° turning abilitys at place is two times faster than other robot in average walking time. It walked average 5sec faster than other robot in the target turning test and 45° sharp curve. Its center change was ±5mm stabler than other in horizontal walking type 3-DOF 6 legged robot. This showed that it can reduce robot s sensor error and has capability to work a chievement as horizontal migration. A load test shows possibility as work robot afterward because it walked straight in the central axis with 2.5kg load such as circle 3-DOF 6 legged robot. According to the result of experiment, circle 3-DOF 6 legged robot has more advantage as demand a lot of rotations or walk in a rapid radius of rotation.