Paper Title:
Dynamic Analysis of Multi-Legged Walking Robot’s Swing Leg with Hand-Foot-Integration Function
  Abstract

In this paper, the structure and the motion state of a new type multi-legged walking robot with hand-foot-integration function is introduced, and its swing leg which has hand-foot-integration function is analyzed in detail. Firstly, the kinematics relation of the swing leg is researched, then the velocity and accelerated velocity expression of the swing leg is derived. And then, the dynamics of the swing leg in the state of grasping objects with considering the gravity effect is researched by using Newton-Euler method. The relevant formula is deduced in this paper. Finally, the analysis process is verified through a numerical example.

  Info
Periodical
Advanced Materials Research (Volumes 317-319)
Chapter
Industrial Robotics and Automation
Edited by
Xin Chen
Pages
811-816
DOI
10.4028/www.scientific.net/AMR.317-319.811
Citation
X. J. Wang, X. H. Zhang, L. W. Wang, D. Q. Zhang, B. Wei, "Dynamic Analysis of Multi-Legged Walking Robot’s Swing Leg with Hand-Foot-Integration Function", Advanced Materials Research, Vols. 317-319, pp. 811-816, 2011
Online since
August 2011
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Price
$35.00
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Authors: Jing Chao Zou, Liang Wen Wang, Chuan Peng Wang, Wei Hong Chen
Chapter 9: Industrial Robotics and Automation
Abstract:Development of integrated hand-foot function is the inevitable choice for the practical application of multi-legged robots. In this paper, a...
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