Gait Planning of Hexapod Walking Robot based on 3-UPU
A new hexapod walking robot based on asymmetric 3-UPU is proposed， it has the advantages of large carrying capacity， strong passing ability， easy control and so on. Firstly， the structure of hexapod walking robot is designed， then the stability of the robot and the interference of the legs are consi...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2019-03-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.03.030 |
| Summary: | A new hexapod walking robot based on asymmetric 3-UPU is proposed， it has the advantages of large carrying capacity， strong passing ability， easy control and so on. Firstly， the structure of hexapod walking robot is designed， then the stability of the robot and the interference of the legs are considered synthetically， the maximum transverse moving stride is designed. The gait planning of the hexapod walking robot is carried out， including the duty cycle coefficient of the two groups of legs， the order of motion， and the moving stride， the movement trajectory and the equivalent rod length of each branch vary with the movement of the robot. |
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| ISSN: | 1004-2539 |