Design, Analysis and Experiments of Hexapod Robot with Six-Link Legs for High Dynamic Locomotion
An important feature of a legged robot is its dynamic motion performance. Traditional methods often improve the dynamic motion performance by reducing the moment of inertia of robot legs or by adopting quasi-direct drive actuators. This paper proposes a method to enhance the dynamic performance of a...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-08-01
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| Series: | Micromachines |
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| Online Access: | https://www.mdpi.com/2072-666X/13/9/1404 |
| _version_ | 1797484665300320256 |
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| author | Jiawang Ma Guanlin Qiu Weichen Guo Peitong Li Gan Ma |
| author_facet | Jiawang Ma Guanlin Qiu Weichen Guo Peitong Li Gan Ma |
| author_sort | Jiawang Ma |
| collection | DOAJ |
| description | An important feature of a legged robot is its dynamic motion performance. Traditional methods often improve the dynamic motion performance by reducing the moment of inertia of robot legs or by adopting quasi-direct drive actuators. This paper proposes a method to enhance the dynamic performance of a legged robot by transmission mechanism. Specifically, we present a unique six-link leg mechanism that can implement a large output motion using a small drive motion. This unique feature can enhance the robots’ dynamic motion capability. Experiments with a hexapod robot verified the effectiveness of the mechanism. The experimental results showed that, when the steering gear of the robot rotates 1°, the toe can lift 7 mm (5% of body height), and the maximum running speed of the robot can reach 390 mm/s (130% of the moveable body length per second). |
| first_indexed | 2024-03-09T23:08:40Z |
| format | Article |
| id | doaj.art-361b06728bcc4e29b379254c018d3f2a |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-03-09T23:08:40Z |
| publishDate | 2022-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-361b06728bcc4e29b379254c018d3f2a2023-11-23T17:48:57ZengMDPI AGMicromachines2072-666X2022-08-01139140410.3390/mi13091404Design, Analysis and Experiments of Hexapod Robot with Six-Link Legs for High Dynamic LocomotionJiawang Ma0Guanlin Qiu1Weichen Guo2Peitong Li3Gan Ma4Sino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen 518118, ChinaSino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen 518118, ChinaSino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen 518118, ChinaSino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen 518118, ChinaSino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen 518118, ChinaAn important feature of a legged robot is its dynamic motion performance. Traditional methods often improve the dynamic motion performance by reducing the moment of inertia of robot legs or by adopting quasi-direct drive actuators. This paper proposes a method to enhance the dynamic performance of a legged robot by transmission mechanism. Specifically, we present a unique six-link leg mechanism that can implement a large output motion using a small drive motion. This unique feature can enhance the robots’ dynamic motion capability. Experiments with a hexapod robot verified the effectiveness of the mechanism. The experimental results showed that, when the steering gear of the robot rotates 1°, the toe can lift 7 mm (5% of body height), and the maximum running speed of the robot can reach 390 mm/s (130% of the moveable body length per second).https://www.mdpi.com/2072-666X/13/9/1404hexapod robotsix-link mechanismhigh dynamic capability |
| spellingShingle | Jiawang Ma Guanlin Qiu Weichen Guo Peitong Li Gan Ma Design, Analysis and Experiments of Hexapod Robot with Six-Link Legs for High Dynamic Locomotion Micromachines hexapod robot six-link mechanism high dynamic capability |
| title | Design, Analysis and Experiments of Hexapod Robot with Six-Link Legs for High Dynamic Locomotion |
| title_full | Design, Analysis and Experiments of Hexapod Robot with Six-Link Legs for High Dynamic Locomotion |
| title_fullStr | Design, Analysis and Experiments of Hexapod Robot with Six-Link Legs for High Dynamic Locomotion |
| title_full_unstemmed | Design, Analysis and Experiments of Hexapod Robot with Six-Link Legs for High Dynamic Locomotion |
| title_short | Design, Analysis and Experiments of Hexapod Robot with Six-Link Legs for High Dynamic Locomotion |
| title_sort | design analysis and experiments of hexapod robot with six link legs for high dynamic locomotion |
| topic | hexapod robot six-link mechanism high dynamic capability |
| url | https://www.mdpi.com/2072-666X/13/9/1404 |
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