대형 줄 인형 로봇 메커니즘의 동작 특성 분석

A marionette is a moving puppet which several actions implement pulling wire to be connected to the puppet. As marionette robot operate robot by using wire controller, it is possible operation of the human-sized marionette robot and to do a stage performances with other robot or actor. This paper carrying out dynamic modeling and simulation of the robot to control movement of designed large-size marionette robot system. As operating characteristics of robot mechanism according to operation sequence of wire controller and pulling speed of wire, this results use in the development of control algorithms in the future. Also, the structures of marionette robot wire control system are verified the feasibility by using dynamics analysis. And the analyzed operating characteristics of marionette robot are proved by the manufacturing and operating the robot.