Direct Kinematic Analysis of a Hexapod Spider-Like Mobile Robot

Mostafa Ghayour; Amir Zareei

doi:10.4028/www.scientific.net/AMR.403-408.5053

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 403-408Direct Kinematic Analysis of a Hexapod Spider-Like...

Direct Kinematic Analysis of a Hexapod Spider-Like Mobile Robot

Abstract:

In this paper, an appropriate mechanism for a hexapod spider-like mobile robot is introduced. Then regarding the motion of this kind of robot which is inspired from insects, direct kinematics of position and velocity of the centre of gravity (C.G.) of the body and noncontact legs are analysed. By planning and supposing a specific time variation for each joint variable, location and velocity of the C.G. of the robot platform and angular velocity of the body are obtained and the results are shown and analysed.

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Periodical:

Advanced Materials Research (Volumes 403-408)

Pages:

5053-5060

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.403-408.5053

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Online since:

November 2011

Authors:

Mostafa Ghayour, Amir Zareei

Keywords:

Direct Kinematics, Hexapod, Legged Mechanism, Spider-Like Robot, Walking Mobile Robot

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References

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