Analysis and Structure Design of the Underwater Hexapod Robot Leg

2021 ◽  
Author(s):  
Zhang Lianzhao ◽  
Wang Pengfei ◽  
Zha Fusheng ◽  
Bi Xiuwen ◽  
Guo Wei ◽  
...  
Keyword(s):  
Structure Design ◽  
Hexapod Robot ◽  
Robot Leg

scholarly journals CONTROL OF THE HEXAPOD WALKING ROBOT / ŠEŠIAKOJO ŽINGSNIUOJANČIO ROBOTO VALDYMAS

2013 ◽  
Vol 5 (2) ◽  
pp. 96-100
Author(s):  
Raimondas Zubavičius ◽  
Nerijus Paulauskas ◽  
Martynas Šapurov
Keyword(s):  
Inverse Kinematics ◽  
Servo Control ◽  
Movement Trajectory ◽  
Control Methods ◽  
Hexapod Robot ◽  
Walking Robot ◽  
Control Signals ◽  
Leg Movement ◽  
Robot Leg ◽  
Three Degree Of Freedom

The analysis focuses on control features of the hexapod walking robot with three degree-of-freedom legs. This paper describes different servo control methods and presents the developed algorithm for formation of servos control signals. The geometric inverse kinematics method was used to calculate the angles of each joint of a leg. The authors present the results of the experimental investigation on the hexapod robot leg movement trajectory. Article in Lithuanian. Santrauka Nagrinėjami šešiakojo žingsniuojančio roboto kojų, turinčių tris judrumo laipsnius, valdymo ypatumai. Aprašomi skirtingi valdomųjų mechanizmų valdymo būdai, pateikiamas sudarytas programos algoritmas valdomųjų mechanizmų valdymo signalams formuoti. Aprašyta, kaip randami atskirų roboto kojos dalių tarpusavio kampai taikant geometrinį atvirkštinės kinematikos metodą. Pateikiami šešiakojo žingsniuojančio roboto maketo tyrimo vienos kojos judėjimo erdvėje rezultatai.

Modeling the Compliance of a Variable Stiffness C-Shaped Leg Using Castigliano’s Theorem

2010 ◽  
Author(s):  
Yasemin O¨. Aydın ◽  
Kevin C. Galloway ◽  
Yigit Yazicioglu ◽  
Daniel E. Koditschek
Keyword(s):  
Rigid Body ◽  
Closed Form ◽  
Variable Stiffness ◽  
Dynamic Equations ◽  
Hexapod Robot ◽  
Static Loads ◽  
Compliant Robot ◽  
Circular Beam ◽  
Robot Leg ◽  
Castigliano’S Theorem

This paper discusses the application of Castigliano’s Theorem to a half circular beam intended for use as a shaped, tunable, passively compliant robot leg. We present closed-form equations characterizing the deflection behavior of the beam (whose compliance properties vary along the leg) under appropriate loads. We compare the accuracy of this analytical representation to that of a Pseudo Rigid Body (PRB) approximation in predicting the data obtained by measuring the deflection of a physical half-circular beam under the application of known static loads. We briefly discuss the further application of the new model for solving the dynamic equations of a hexapod robot with a C-shaped leg.

Active Compliance Control for the Leg of Hexapod Robot HITCR-II

2012 ◽  
Vol 201-202 ◽  
pp. 578-581 ◽  
Author(s):  
Jie Zhao ◽  
He Zhang ◽  
Yu Bin Liu ◽  
Zi Wei Zhou
Keyword(s):  
Estimation Algorithm ◽  
Force Sensor ◽  
Time Parameter ◽  
Virtual Simulation ◽  
Hexapod Robot ◽  
Compliance Control ◽  
Robot System ◽  
Active Compliance ◽  
Parameter Estimation Algorithm ◽  
Robot Leg

Walking is an effective way of locomotion for the robot system; especially for the Hexapod robots, walking offers a better robustness for its redundancy of limbs. In order to enhance the adaptability of walking on unstructured terrain, a hexapod robot leg structure with the sensing ability has been developed. This structure is equipped with the 3-D force sensor at the tibia and the torque sensors at the first and second joint. The compliance control has been adopted to control the force of the foot end, and by combining with the real-time parameter estimation algorithm, the shape and stiffness can be updated to make the robot adapt to the mutative terrain better. Thus, the self-adaptively active compliance control for the hexapod robot leg has been realized, and the effectiveness of the controller has been verified through virtual simulation.

Biomimetic Design and Optimal Swing of a Hexapod Robot Leg

2014 ◽  
Vol 11 (1) ◽  
pp. 26-35 ◽  
Author(s):  
Jie Chen ◽  
Yubin Liu ◽  
Jie Zhao ◽  
He Zhang ◽  
Hongzhe Jin
Keyword(s):  
Hexapod Robot ◽  
Biomimetic Design ◽  
Robot Leg

scholarly journals Linkage Design and Optimisation of a Hexapod Walking Robot Used For Surveillance

2019 ◽  
Vol 8 (11) ◽  
pp. 705-708
Keyword(s):  
Basic Structure ◽  
Walking Robots ◽  
Robot Design ◽  
Hexapod Robot ◽  
Walking Robot ◽  
Walking Gait ◽  
Linkage Design ◽  
Robot Leg ◽  
Leg Design ◽  
Basic Movement

The technological advancements at the global level have put in a large demand for walking robots in various industrial and domestic applications. The aim of the paper is to develop a Hexapod (robot with six legs) walking robot that is capable of performing basic movement, such as walking forward and backward, carry payloads and used as a surveillance device. A novel robot leg design has been created with Autodesk Fusion 360, linkage mechanisms of the robot leg is determined by using Linkage 2.0 software. Stress and displacement analysis was done in Autodesk fusion360 software in order to determine whether it can hold the self-weight of the robot and the desired payload to carry the surveillance purpose (i.e. medicine, water, blood etc.). Considering all the possibilities final optimized Hexapod robot design is created using Autodesk Fusion 360 software. Mainly, the undertaken design outline takes into account the fundamental features, such as basic structure, motion planning, payload and walking gait. Fabrication of Hexapod robot parts was completed using additive manufacturing technology FDM process.

scholarly journals Hexapod Robot Leg Dynamic Simulation and Experimental Control using Matlab

2012 ◽  
Vol 45 (6) ◽  
pp. 895-899 ◽  
Author(s):  
Mănoiu – Olaru Sorin ◽  
Mircea Niţulescu
Keyword(s):  
Dynamic Simulation ◽  
Hexapod Robot ◽  
Experimental Control ◽  
Robot Leg
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