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Informations générales |
| Auteur |
Sandoval-Castro, Xochitl Yamile; Garcia-Murillo, Mario; Perez-Resendiz, Luis Alberto; Castillo, Eduardo |
| Publié |
InTech Open Access Publisher, 2013
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| Abstract |
In this paper the kinematic analysis of a six‐legged
robot, hereafter named Hex‐piderix, is carried out. A three
revolute (3R) chain has been chosen for each limb in order to
mimic the leg structure of an insect. The rotation matrix,
with unitary vectors, and the Denavit‐Hartenberg (D‐H)
conventions are used to find the pose of the thorax. The
problem of inverse position is solved by geometrical
analysis. The direct and inverse infinitesimal kinematics are
obtained by the reciprocal screw theory, considering a
suction cup attached to each leg and modelling it as a UP
linkage. A numerical example of the thorax pose was made
by solving the equations obtained from the direct position
analysis. The equations of the inverse position analysis were
solved to obtain the angles of the joints. Finally, the velocity
values of the thorax obtained from the infinitesimal
kinematics were validated by simulating the movements of
Hex‐piderix using specialized software. |
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International Journal of Advanced Robotic Systems
Auteur: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publié: 2004
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