Hierarchical Kinematic Modelling and Optimal Design of a Novel Hexapod Robot with Integrated Limb Mechanism
This paper presents a novel hexapod robot, hereafter named PH-Robot, with three degrees of freedom (3-DOF) parallel leg mechanisms based on the concept of an integrated limb mechanism (ILM) for the integration of legged locomotion and arm manipulation. The kinematic model plays an important role in...
Main Authors: | , , , |
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Format: | Article |
Language: | English |
Published: |
SAGE Publishing
2015-09-01
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Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.5772/59989 |