Title :
A Research on Hexapod Walking Bio-robot´s Working Space and Flexibility
Author :
Han, Baoling ; Luo, Qingsheng ; Wang, Qiuli ; Zhao, Xiaochuan
Author_Institution :
Dept. of Mech. & Vehicular Eng., Beijing Inst. of Technol., Beijing
Abstract :
Based on the character that the hexapod walking robot is composed by parallel closed loop and series open loop, choosing proportion of the robot´s each leg as the cut-in point, this paper analyzes the specific method of hexapod walking bio-robot structure optimizing, works out the robot´s feet space using the numerical analysis method calculates the robot´s degree of agility utilizing virtual prototyping technique, measures the flexibility of the robot´s leg and body fully. Hereby we review the robot´s whole working capability, which provides the theory basis on the hexapod walking bio-robot´s proper drive and exact control.
Keywords :
biomimetics; closed loop systems; legged locomotion; numerical analysis; open loop systems; hexapod walking biorobot working space; numerical analysis method; open loop systems; parallel closed loop systems; virtual prototyping technique; Animal structures; Biomimetics; Leg; Legged locomotion; Numerical analysis; Orbital robotics; Parallel robots; Service robots; Space technology; Virtual prototyping; flexibility; hexapod walking bio-robot; optimum design ofmechanism; working space;
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
DOI :
10.1109/ROBIO.2006.340318