DocumentCode
559001
Title
Kinematic design and workspace analysis of a Korean service robot: KOBOKER
Author
Bae, Yeong-Geol ; Jung, Seul
Author_Institution
Dept. of Mechatron. Eng., Chungnam Nat. Univ., Daejeon, South Korea
fYear
2011
fDate
26-29 Oct. 2011
Firstpage
833
Lastpage
836
Abstract
This paper analyzes the workspace of KOBOKER built as a service robot for home applications. KOBOKER is a kind of mobile manipulators that have two arms and two wheels to fit Korean life style which relies mostly on floor living. KOBOKER performs handling tasks not only on the desk but also on the floor. Among several new design concepts of KOBOKER, the most typical design is the sliding mechanism of two arms that allows the robot to reach objects on the floor easily. The workspace of the robot is analyzed through kinematics. A suitable wheel size is determined by analyzing the workspace of the robot on the floor.
Keywords
design engineering; home automation; manipulator kinematics; service robots; KOBOKER kinematic design; KOBOKER workspace analysis; Korean service robot; handling tasks; mobile manipulators; robot home applications; robot kinematics; Robots; Wheels; Korean service robot; kinematic analysis; workspace;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation and Systems (ICCAS), 2011 11th International Conference on
Conference_Location
Gyeonggi-do
ISSN
2093-7121
Print_ISBN
978-1-4577-0835-0
Type
conf
Filename
6106339
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