Dynamics analysis of leg mechanism of six-legged firefighting robot

被引：0
|
作者：
Jinzhu Zhang
Zhenlin Jin
Yuming Zhao
机构：
[1] Yanshan University,College of Mechanical Engineering
来源：
Journal of Mechanical Science and Technology | 2018年 / 32卷
关键词：
Six-legged firefighting robot; 3-DOF; Parallel mechanism; Kinematics; Dynamics;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A novel 3-DOF Leg mechanism (LM), which consists of a 2RUS+RU PM, a space parallelogram mechanism and a connecting spherical joint is proposed. The LM has good protective characteristics. The whole LM is driven by the 2RUS+RU PM. The kinematics formulae and the inertial force formulae at their mass centers of moving links are derived. Based on the principle of virtue work, the dynamics formula is built for solving the dynamic driving force of the LM. An analytic example on the kinematics and dynamics is given. The kinematics and dynamics results of the example are verified by a simulation model of the LM. On the basis of the kinematics results, motion characteristics of the LM are analyzed and the leg layout of the robot is determined. The LM is improved according to the dynamics results. The dynamic model of improved LM is established. The workspace of improved LM is drawn.
引用
收藏
页码：351 / 361
页数：10
相关论文
共 50 条
  • [1] Dynamics analysis of leg mechanism of six-legged firefighting robot
    Zhang, Jinzhu
    Jin, Zhenlin
    Zhao, Yuming
    JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2018, 32 (01) : 351 - 361
  • [2] Design of parallel mechanical leg of six-legged robot
    Rong, Yu
    Jin, Zhen-Lin
    Qu, Meng-Ke
    Guangxue Jingmi Gongcheng/Optics and Precision Engineering, 2012, 20 (07): : 1532 - 1541
  • [3] Manipulability and Kinematic Dependences of a Leg of the Six-Legged Robot
    Chavdarov, Ivan
    Trifonov, Roumen
    Pavlova, Galya
    Budakova, Dilyana
    COMPUTER SYSTEMS AND TECHNOLOGIES (COMPSYSTECH'18), 2018, 1641 : 116 - 119
  • [4] Kinematic Analysis of Six-Legged Robot
    Quyen, Tran Tuyet
    Trieu, Nguyen Minh
    Thinh, Nguyen Truong
    INTERNATIONAL JOURNAL OF MECHANICAL ENGINEERING AND ROBOTICS RESEARCH, 2024, 13 (01): : 99 - 104
  • [5] Motion analysis of a six-legged robot using Bennett's linkage as leg
    Carvalho, Joao C. M.
    Silvestre, Tadeu R.
    MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES, 2016, 44 (1-2) : 86 - 95
  • [6] Research on a six-legged robot with omnidirectional steering mechanism
    Cui, Ying
    Gao, Feng
    2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS, 2007, : 1938 - 1943
  • [7] Research on a six-legged walking robot with parallel mechanism
    Ota, Y
    Inagaki, Y
    Yoneda, K
    Hirose, S
    1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3: INNOVATIONS IN THEORY, PRACTICE AND APPLICATIONS, 1998, : 241 - 248
  • [8] Typical gait analysis of a six-legged robot in the context of metamorphic mechanism theory
    Xu Kun
    Ding Xilun
    CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2013, 26 (04) : 771 - 783
  • [9] Typical Gait Analysis of a Six-legged Robot in the Context of Metamorphic Mechanism Theory
    XU Kun
    DING Xilun
    Chinese Journal of Mechanical Engineering, 2013, 26 (04) : 771 - 783
  • [10] Typical gait analysis of a six-legged robot in the context of metamorphic mechanism theory
    Kun Xu
    Xilun Ding
    Chinese Journal of Mechanical Engineering, 2013, 26 : 771 - 783
12345