Design and Kinematic Simulation for Six-DOF Leg Mechanism of Hexapod Robot

Author

Jianhua, Gao

Author_Institution

Dept. of Mech. & Autom. Control, Zhejiang Sci-Tech Univ., Hangzhou

fYear

2006

fDate

17-20 Dec. 2006

Firstpage

625

Lastpage

629

Abstract

In order to deeply understand many walking gaits of hexapod robot in unstructured terrain and some relative factors of adapting various obstacles, an articulated leg model with six degree-of-freedom (DOF) is built in the initial researches. Based upon the designed six-DOF leg mechanism, a hexapod robot with total 42 DOFs is constructed, which can realize omni-directional movement. The tripod gait of hexapod robot is simulated. According to the leg mechanism and its model, kinematic angular displacement, angular velocity and angular acceleration of each joint of each leg can be analyzed. Therefore the detailed movement information can be obtained. Such researches provide good theoretical base for future dynamic analysis.

Keywords

legged locomotion; robot kinematics; angular acceleration; angular velocity; hexapod robot; kinematic angular displacement; kinematic simulation; six-DOF leg mechanism; tripod gait; unstructured terrain; Angular velocity; Biomimetics; Insects; Kinematics; Leg; Legged locomotion; Motion control; Orbital robotics; Robotics and automation; Robots; Hexapod robot; Kinematic simulation; Leg mechanism; Tripod gait;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on

Conference_Location

Kunming

Print_ISBN

1-4244-0570-X

Electronic_ISBN

1-4244-0571-8

Type

conf

DOI

10.1109/ROBIO.2006.340272

Filename

4141938