Design, Analysis and Experiments of Hexapod Robot with Six-Link Legs for High Dynamic Locomotion.
Micromachines (Basel)
; 13(9)2022 Aug 26.
Article
em En
| MEDLINE
| ID: mdl-36144027
ABSTRACT
An important feature of a legged robot is its dynamic motion performance. Traditional methods often improve the dynamic motion performance by reducing the moment of inertia of robot legs or by adopting quasi-direct drive actuators. This paper proposes a method to enhance the dynamic performance of a legged robot by transmission mechanism. Specifically, we present a unique six-link leg mechanism that can implement a large output motion using a small drive motion. This unique feature can enhance the robots' dynamic motion capability. Experiments with a hexapod robot verified the effectiveness of the mechanism. The experimental results showed that, when the steering gear of the robot rotates 1°, the toe can lift 7 mm (5% of body height), and the maximum running speed of the robot can reach 390 mm/s (130% of the moveable body length per second).
Texto completo:
1
Coleções:
01-internacional
Base de dados:
MEDLINE
Idioma:
En
Revista:
Micromachines (Basel)
Ano de publicação:
2022
Tipo de documento:
Article
País de afiliação:
China