A Novel Hexapod Robot: Design and Mobility Analysis

被引：0
|
作者：
Chen, Long [1 ]
Zhong, Guoliang [1 ]
Li, Zhuoxi [1 ]
Deng, Hua [1 ]
机构：
[1] Cent South Univ, State Key Lab High Performance Complex Mfg, Col Mech & Elect Engn, Changsha 410000, Hunan, Peoples R China
来源：
2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION | 2016年
关键词：
Hexapod robot; Mechanical design; Kinematics; Workspace; Stability; WALKING;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a novel hexapod robot with legs radially free distributed around the body. Compared with radial symmetric or rectangular symmetric robots, the legs of radially free distributed hexapod robot can rotate around the body of the robot and redistribute their positions thanks to the proposed radially free distribution mechanism. The kinematic model of the articulated leg mechanism is obtained to reveal the relationship between the body movement and the joints movement. The enlarged workspace shows the superiorities of leg distribution in the application of hexapod robot. Then an analysis on the stability of the robot is addressed to verify the effectiveness of proposed radially free distribution mechanism in theory.
引用
收藏
页码：2094 / 2098
页数：5
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