شناسايي و طراحي يك ربات شش پاي شش درجه آزادي

DESIGN AND IDENTIFICATION OF A SIX DEGREE OF FREEDOM HEXAPOD ROBOT

In this research work a hexapod robot having 6DOF has been addressed while its feet are driven using fourbar linkage mechanism. Although each foot has only one active DOF for its linkage, the ro bot overally behaves very similar to hexapod insect , called cockroach, rtather than ot her hexapod rob ot wit h 6 DOF . This is one of the most important advantages of the proposed mechanism here using 4-bar linkage mechanism . This is the new asspeet of the mechanism here comparing to some similar work on hexapod robots. In this paper at first , motion analysis of cockroac h has been studied, then equivalent robotic system is identified by using 4-bar linkag emechanism for its feetmotion, and its kinematics equations and numerical simulations have been addressed. Finally, rob ot statics stabilit y and dynamics equations are derived and t hen driving power and dynamics simulat ions have been studied and addressed.