Research on Structure and Kinematics of Hexapod Robot Based on the Pneumatic Flexible Joint

De Xu Geng; He Peng; Jin Tao Zhang; Yun Wei Zhao; Guang Bin Wu

doi:10.4028/www.scientific.net/AMM.401-403.267

Paper Titles

Research on Characteristic of Electromagnetic Force of Magnetic Suspension Device with Large Air-Gap
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Research on Mechanism of Overland Flow Losses of Direct-Current Conduction Electromagnetic Pump for Casting
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Research on Pitting Corrosion Fault Model of Vibrating Screens Rolling Element Bearing
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Research on Structure and Kinematics of Hexapod Robot Based on the Pneumatic Flexible Joint
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Robust Design Based on Grey Correlation Analysis
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Sensibility Analysis and Structural Optimization Design of Vehicle Frame
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Study of the Suitability between Artificial Cavity and Traffic Vessel
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Study on High-Temperature Heat Harm Control Technology in Deep Mine
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 401-403Research on Structure and Kinematics of Hexapod...

Research on Structure and Kinematics of Hexapod Robot Based on the Pneumatic Flexible Joint

Abstract:

This paper developed a new type of hexapod robot using self-developed flexible space bending joints which can not only move from side to side or back and forth but also rotate. Then the principle of the movement and the gait of the hexapod robot were investigated, the kinematics model on translational displacement and velocity was followed. Furthermore, the test bench and pneumatic control system were set up, and the displacement, velocity and acceleration of the center of were acquired by high-speed camera shooting means. Finally, the stability of the gravity center and the control method of the hexapod robot were studied. The research of this paper provides a theoretical and practical basis for the application of bionic hexapod robot.