Configuration and Motion Simulation of Multi-legged Walking Robots with Hand-food-integrated Mechanism Arm

被引：4
|
作者：
Wang, XinJie [1 ]
Wang, LiangWen [1 ]
Tang, WeiGang [1 ]
Zhang, XiaoHui [1 ]
机构：
[1] Zhengzhou Univ Light Ind, Dept Electromech Sci & Engn, Zhengzhou 450002, Henan, Peoples R China
来源：
HISTORY OF MECHANICAL TECHNOLOGY AND MECHANICAL DESIGN | 2011年 / 42卷
关键词：
Multi-legged Walking Robot; Hand-foot-integrated Mechanism; Modeling; Simulation;
D O I：
10.4028/www.scientific.net/AMM.42.54
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
The paper introduces the configuration of a multi-legged walking robot with hand-food-integrated mechanism ann. In order to study the kinematics and the dynamics of the robot, three-dimensional entity model of the multi-legged walking robot is built up in solid-works based on inner relation of different simulation softwares. And then the model is leaded in ADAMS to simulate the dynamics and the kinematics of the robot. The paper describes the corresponding process. As an example, the robot ZQROT-1 walking along straight line is investigated. Dynamic parameters of the robot are obtained and analyzed by using ADAMS. The results can be used to optimize the robot structure and to determine its characteristic parameter. The methods and the thoughts of the paper can be referenced to solve similar problem in some aspects.
引用
收藏
页码：54 / 58
页数：5
相关论文
共 45 条
  • [1] Motion Error Compensation of Multi-legged Walking Robots
    WANG Liangwen1
    Chinese Journal of Mechanical Engineering, 2012, (04) : 639 - 646
  • [2] Motion Error Compensation of Multi-legged Walking Robots
    WANG LiangwenCHEN XuedongWANG XinjieTANG WeigangSUN Yiand PAN Chunmei State Key Laboratory of Digital Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhan China Mechanical and Electrical Engineering InstituteZhengzhou University of Light IndustryZhengzhou China
    Chinese Journal of Mechanical Engineering, 2012, 25 (04) : 639 - 646
  • [3] Motion error compensation of multi-legged walking robots
    Liangwen Wang
    Xuedong Chen
    Xinjie Wang
    Weigang Tang
    Yi Sun
    Chunmei Pan
    Chinese Journal of Mechanical Engineering, 2012, 25 : 639 - 646
  • [4] Motion Error Compensation of Multi-legged Walking Robots
    Wang Liangwen
    Chen Xuedong
    Wang Xinjie
    Tang Weigang
    Sun Yi
    Pan Chunmei
    CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2012, 25 (04) : 639 - 646
  • [5] DYNAMIC REGIMES OF MULTI-LEGGED WALKING ROBOTS MOTION
    GOLUBEV, YF
    DEGTYAREVA, EV
    TSARKOVA, TA
    VESTNIK MOSKOVSKOGO UNIVERSITETA SERIYA 1 MATEMATIKA MEKHANIKA, 1987, (05): : 47 - 51
  • [6] Traversal Cost Modeling Based on Motion Characterization for Multi-legged Walking Robots
    Pragr, Milos
    Cizek, Petr
    Faigl, Jan
    2019 EUROPEAN CONFERENCE ON MOBILE ROBOTS (ECMR), 2019,
  • [7] Velocity workspace analysis for multi-legged walking robots
    Lee, JH
    Kim, I
    Jeon, BH
    2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II, 2001, : 458 - 463
  • [8] A minimal simulation model for evolving periodical gaits for multi-legged walking robots
    Svinin, MM
    Yamada, K
    Ushio, S
    Ueda, K
    INTELLIGENT AUTONOMOUS SYSTEMS 6, 2000, : 281 - 288
  • [9] DESIGN AND KINEMATIC SIMULATION OF A NOVEL LEG MECHANISM FOR MULTI-LEGGED ROBOTS
    Asci, Simone
    Zhang, Ketao
    PROCEEDINGS OF ASME 2021 INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, IDETC-CIE2021, VOL 8B, 2021,
  • [10] RoaDS - Robot and Dynamics Simulation for Biologically-Inspired Multi-Legged Walking Robots
    Roennau, A.
    Heppner, G.
    Klemm, S.
    Dillmann, R.
    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2015, : 1870 - 1876
12345