Seoul National University of Technology 1

Design ProjectDesign ProjectDr. Dong-hawn KimDr. Dong-hawn Kim

Sung-mok SeoSung-mok Seo

Ok-nam LeeOk-nam LeeYoon-ho NaYoon-ho Na

Su-min ParkSu-min Park

Contents

Individual part Plan

Mechanism DSP & IC Board PC

Mechanism survey Criteria

2Seoul National University of Technology

PartPart

Mechanism: Su-min (Mechanical Eng.)Mechanism: Su-min (Mechanical Eng.)

DSP & IC: Ok-nam (Mechanical Eng.)DSP & IC: Ok-nam (Mechanical Eng.)

Sung-mok (Industrial Eng.)Sung-mok (Industrial Eng.)

PC: Yoon-ho (Mechanical Eng.)PC: Yoon-ho (Mechanical Eng.)

3Seoul National University of Technology

PlanPlan

Finish until AugustFinish until August

Prepare for Robot contest in Prepare for Robot contest in SeptemberSeptember

Meeting on Wed. Fri. regularly Meeting on Wed. Fri. regularly

4Seoul National University of Technology

PlanMechanism Part

March Design mechanism, functions, etc.

April Select components and design in detail

May Manufacture and assembly

June Operate the robot and add new functions

July Correct and complement

August Optimize

5Seoul National University of Technology

PlanDSP and IC Board Part

March Install software programs

April Buy basic parts, study DSP code

May Connect DSP & Board & Sensors

June Control parts, motor by DSP

July Link MSRS and add new functions

August Optimize

6Seoul National University of Technology

Plan

PC Part

March Study MSRS and C#

April Seminar for MSRS and C#

May Build robot protocol

June Drive robot and develop codes

July Develop controller for robot

August Optimize

7Seoul National University of Technology

Mechanism survey

Wheel

Leg

4 wheels

Caterpillar

4 legs

6 legs

8Seoul National University of Technology

4 wheels

High speed movement Easy to change

direction

Bounce along rough road

Impossible to step up

9Seoul National University of Technology

Caterpillar

Easy to make a turn Movable on uneven road

Generally slow speed Impossible to go up stairs

10Seoul National University of Technology

4 legs

Easy to change direction Movable on uneven road Possible to step up

Lower speed than wheels Difficult to control

11Seoul National University of Technology

6 legs

Good for balancing Possible to move

minutely

Difficult to control Lower speed than

wheels

12Seoul National University of Technology

Criteria Criteria

13Seoul National University of Technology

Criteria(Weight)

Speed(4)

Movement on uneven

road(5)

Controlling

(3)

Size(1)

Cost(3)

Result

4 wheels

4 1 4 4 4 49

Chain 3 2 3 3 4 46

4 legs 3 4 2 4 3 51

6 legs 1 5 3 3 1 44

5 point is max. 1 point is min.

14Seoul National University of Technology

Q & AQ & A

Thank youThank you

Legged RobotLegged Robot

6 arc-shape legged Robot6 arc-shape legged Robot

6 parallel legged Robot6 parallel legged Robot

6 round array legged Robot6 round array legged Robot

4 parallel legged Robot4 parallel legged Robot

15Seoul National University of Technology