New Design and Development of Reconfigurable-Hybrid Hexapod Robot

被引：0

作者：

Ozyalcin, Kubilay ^{[1
]}

Akay, Ismet Husrev ^{[1
]}

Ozturk, Yigitcan ^{[1
]}

Mengus, Berkay ^{[1
]}

Ozakyol, Haluk ^{[1
]}

Bingul, Zafer ^{[1
]}

机构：

[1] Kocaeli Univ, Dept Mechatron Engn, Kocaeli, Turkey

来源：

IECON 2018 - 44TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY | 2018年

关键词：

six-legged robot; reconfigurable leg; prismatic joint; gait analysis; quantic polynomial equation;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In this study, hybrid hexapod robots with 4 legs and 2 legs/arms were designed and developed. The robot with 26 dof contains 4 actuators in the 4 standard legs and 5 actuators in the 2 reconfigurable legs/arms. In order to obtain a more stable movement in the rough terrain, each leg/arm in robot structure has one prismatic actuation. Two customized legs in this robot structure can be used as arms which may reach and hold objects. The gripper on the customized arm of the robot can carry a load of approximately 350 gr. For the control of this robot, gait analysis, trajectory planning, kinematic modelling, dynamic modeling and quantic polynomial equation were studied. The developed robot was tested in different scenarios and accomplished the desired tasks successfully.

引用

页码：2583 / 2588

页数：6

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