Hexapod robot. Mathematical support for modeling and control

In this paper the authors present a complete kinematical models of a hexapod robot´s leg. There is also described a dynamical model of the selected leg. First, the complete kinematical and dynamical models of the leg are included. Then, a hexapod robot structure using this leg type is generally presented. Finally, simulation results are attached to evaluate the performances of the proposed model. More relevant experimental results can be seen in the article: Hexapod Robot. Virtual models for preliminary studies.