Abstract
This paper deals with the kinematics, dynamics and joint torque distribution of a novel hexapod robot. In order to climb over large obstacles or high steps, a neck joint has been installed between the front and central part of the body. The formulation of dynamics is performed by the Lagrange’s equations, using the robot screw theory and product of exponential method. The torque distribution model is settled based on the inverse dynamics and force distribution of the tip point. The analysis has been verified by simulation and experiments to further improve the design and control of the hexapod robot.
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Acknowledgments
This work was supported in part of the National Natural Science Foundation of China under Grant No. 61175108, and in part of the Beijing Natural Science Foundation under Grant No. 4142033.
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Liu, D., Chen, W., Pei, Z., Wang, J., Wu, X. (2015). Dynamic Modeling and Torque Distribution of a Climbing Hexapod Robot. In: Bai, S., Ceccarelli, M. (eds) Recent Advances in Mechanism Design for Robotics. Mechanisms and Machine Science, vol 33. Springer, Cham. https://doi.org/10.1007/978-3-319-18126-4_13
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DOI: https://doi.org/10.1007/978-3-319-18126-4_13
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