Dynamics Analysis and Modeling of a Hexapod Robot with Single Drive

Hong Xie; Xu Hong Wang; Tao Wang; Yi Ming Zhao; Ling Bo Zhang

doi:10.4028/www.scientific.net/AMR.650.364

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 650Dynamics Analysis and Modeling of a Hexapod Robot...

Dynamics Analysis and Modeling of a Hexapod Robot with Single Drive

Abstract:

According to the modular parallel mechanism and characteristics of a hexapod robot with single drive and tripod gait, we set up a dynamics model and study the relationship between the crank shaft angle and drive torque, which is based on the motion theory of modular parallel mechanism, Lagrange theorem, motion equations, etc. After that, a virtual prototyping model of robot is established based on ADAMS simulation software. The rationality of the analytical method is validated, which provides important theory insight for the control system of robot movement.

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Periodical:

Advanced Materials Research (Volume 650)

Pages:

364-368

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.650.364

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Online since:

January 2013

Authors:

Hong Xie, Xu Hong Wang, Tao Wang, Yi Ming Zhao, Ling Bo Zhang

Keywords:

Dynamic, Hexapod Robot, Kinematics, Single Drive

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