A total torque index for dynamic performance evaluation of a radial symmetric six-legged robot
A total torque index for dynamic performance evaluation of a radial symmetric six-legged robot
Kejia LI1(), Xilun DING1, Marco CECCARELL2
1. Robotics Institute, School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China; 2. Laboratory of Robotics and Mechatronics, University of Cassino, 03043 Cassino, Italy
This article focuses on the dynamic index and performance of a radial symmetric six-legged robot. At first the structure of the robot is described in brief and its inverse kinematics is presented. Then the dynamic model is formulated as based on the Lagrange equations. A novel index of total torque is proposed by considering the posture of the supporting legs. The new index can be used to optimize the leg’s structure and operation for consuming minimum power and avoiding unstable postures of the robot. A characterization of the proposed six-legged robot is obtained by a parametric analysis of robot performance through simulation using the presented dynamic model. Main influences are outlined as well as the usefulness of the proposed performance index.
Corresponding Author(s):
LI Kejia,Email:likejia5@gmail.com
引用本文:
. A total torque index for dynamic performance evaluation of a radial symmetric six-legged robot[J]. Frontiers of Mechanical Engineering, 2012, 7(2): 219-230.
Kejia LI, Xilun DING, Marco CECCARELL. A total torque index for dynamic performance evaluation of a radial symmetric six-legged robot. Front Mech Eng, 2012, 7(2): 219-230.
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