Paper Title:

Configuration and Motion Simulation of Multi-Legged Walking Robots with Hand-Food-Integrated Mechanism Arm

Periodical Applied Mechanics and Materials (Volume 42)
Main Theme History of Mechanical Technology and Mechanical Design
Edited by Bo Zhao, Yidu Zhang, Guanglin Wang, Hai Zhang, Jianbin Zhang and Feng Jiao
Pages 54-58
DOI 10.4028/www.scientific.net/AMM.42.54
Citation Xin Jie Wang et al., 2010, Applied Mechanics and Materials, 42, 54
Online since November, 2010
Authors Xin Jie Wang, Liang Wen Wang, Wei Gang Tang, Xiao Hui Zhang
Keywords Hand-Foot-Integrated Mechanism, Modeling, Multi-Legged Walking Robot, Simulation
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Abstract

The paper introduces the configuration of a multi-legged walking robot with hand-food-integrated mechanism arm. In order to study the kinematics and the dynamics of the robot, three-dimensional entity model of the multi-legged walking robot is built up in solid-works based on inner relation of different simulation softwares. And then the model is leaded in ADAMS to simulate the dynamics and the kinematics of the robot. The paper describes the corresponding process. As an example, the robot ZQROT-1 walking along straight line is investigated. Dynamic parameters of the robot are obtained and analyzed by using ADAMS. The results can be used to optimize the robot structure and to determine its characteristic parameter. The methods and the thoughts of the paper can be referenced to solve similar problem in some aspects.