Slope Climbing stability Analysis of Hexapod Robot with Eccentric Wheel Legs

被引：0
|
作者：
Li X.-L. [1 ,2 ,3 ,4 ]
Zhang C. [1 ]
Zhao Y.-L. [5 ]
Zhu X.-Q. [1 ]
Xue A.-L. [1 ]
机构：
[1] Faculty of Information Technology, Beijing University of Technology, Beijing
[2] Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing
[3] Engineering Research Center of Digital Community Ministry of Education, Beijing
[4] Beijing Advanced Innovation Center for Future Internet Technology, Beijing
[5] Instrumentation Technology & Economy Institute, Beijing
来源：
Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology | 2020年 / 40卷 / 09期
关键词：
Eccentric-wheel foot; Hexapod robot; Slope climbing stability; Stabilization cone method; Wave gait;
D O I：
10.15918/j.tbit1001-0645.2019.080
中图分类号：
学科分类号：
摘要：
In the current application of robots, the robot system is required to have a high adaptability to unstructured environment. In this paper, a hexapod robot with eccentric wheels was studied, and its basic mechanical structure was introduced. The motion model and mechanical constraints of the hexapod robot when climbing a slope were established based on the stable cone method. A wave-like climbing gait was designed. The most easily overturning posture of the robot in this motion mode was analyzed. Combining with its mechanical structure characteristics, the stability of the robot was verified by using the stable cone method. The critical slope angle of the robot during climbing was obtained and verified by simulation and physical experiments. In this mechanical structure and the use of the corresponding climbing gait, the robot can have better climbing performance. The maximum stable climbing angle of the robot can be measured in the experimental environment to be about 33 degrees. © 2020, Editorial Department of Transaction of Beijing Institute of Technology. All right reserved.
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页码：994 / 1001
页数：7
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