Design, dynamic simulation and experimental tests of leg mechanism and driving system for a hexapod walking robot

被引：0
|
作者：
Roca, J [1 ]
Nogués, M [1 ]
Cardona, S [1 ]
机构：
[1] Univ Lleida, Dept Informat & Engn Ind, Lleida, Spain
来源：
CLIMBING AND WALKING ROBOTS | 2005年
关键词：
D O I：
10.1007/3-540-29461-9_27
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper a design and a simulation of a leg mechanism for a hexapod is presented. The driving system for each joint consists of a DC motor, a timing belt and an Harmonic Drive gear. In order to evaluate the energy consumption of the mechanism, the driving system has been experimentally tested and a friction model has been developed. Finally this model is used to simulate the actuator when driving the leg motion in order to get all accurate estimation of the motor torque and power requirements.
引用
收藏
页码：295 / 303
页数：9
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