Typical 3+3 Gait Motion Analysis of a Radial Symmetrical Six-Legged Robot Based on Metamorphic Theory
The locomotion of multi-legged robots has some characters similar to metamorphic mechanisms. Assuming the constraints of the feet on the ground with hinges, the supporting legs and the hexapod body are taken as a parallel mechanism, and each transporting leg is regarded as a usual serial manipulator. In different period there may been different equivalent mechanisms of multi-legged robot. The locomotion of hexapod robot can be considered as a series of varying hybrid serialparallel mechanisms. Four typical 3 + 3 gaits of a radial symmetrical six-legged robot are studied in this paper based on metamorphic theory. A new static stability workspace is proposed to establish the static stability of four gaits, and a new method to calculate the stride length of multi-legged robots is present by analyzing the relationship between the workspaces of two adjacent equivalent parallel mechanisms in one gait cycle.
Six-legged robot Metamorphic Serial-parallel mechanism Static stability Stride length
Xilun Ding Kun Xu
Robotics Institute, Beihang University, 10083, Beijing, China
国际会议
天津
英文
535-550
2012-07-08（万方平台首次上网日期，不代表论文的发表时间）