KINEMATICS, DYNAMICS AND TRAJECTORY GENERATION OF A THREE-LEGGED CLIMBING ROBOT

被引：0

作者：

Hazra, Tarun Kumar ^{[1
]}

Hui, Nirmal Baran ^{[1
]}

机构：

[1] Natl Inst Technol, Dept Mech Engn, Durgapur 713209, W Bengal, India

来源：

ICINCO 2011: PROCEEDINGS OF THE 8TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 1 | 2011年

关键词：

Climbing Robots; Tripod Robot; Kinematics analysis; Dynamic Analysis; Trajectory Generation;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In the present paper, an attempt has been made to design a three-legged climbing robot. Each leg of the robot has been considered to have two revolute joints controlled separately by two differential drive motors. Both forward and inverse kinematics analysis have been conducted. The problem of trajectory generation of each joint (both for swing phase and support) has been solved to suit the basic motion laws of Newton's. Dynamic analysis of each link of all the legs has been derived analytically using Lagrange-Euler formulation. Both kinematic and dynamic analysis models of the robot have been tested through computer simulations while the robot is following a straight line path. It is important to mention that the direction of movement of the robot has been considered in the opposite direction of the gravitational acceleration.

引用

页码：161 / 166

页数：6

共 12 条

[1]

[Anonymous], P IEEE INT C ROB AUT

[2]

Barreto JP, 1998, 1998 5TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL - PROCEEDINGS, P423, DOI 10.1109/AMC.1998.743574

[3]

Craig J., 1986, INTRO ROBOTICS MECH

[4]

Denavit J, 1955, J APPL MECH, V22, P215, DOI DOI 10.1115/1.4011045

[5] Torque distribution in a six-legged robot [J].

Erden, Mustafa Suphi ;

Leblebicioglu, Kemal .

IEEE TRANSACTIONS ON ROBOTICS, 2007, 23 (01) :179-186

[6]

Goswami A, 1999, ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, P47, DOI 10.1109/ROBOT.1999.769929

[7] Planning smooth trajectories along parametric paths [J].

Jamhour, E ;

Andre, PJ .

MATHEMATICS AND COMPUTERS IN SIMULATION, 1996, 41 (5-6) :615-626

[8] Dynamic instant gait stability measure for quadruped walking robot [J].

Koo, TW ;

Yoon, YS .

ROBOTICA, 1999, 17 :59-70

[9] Determining the initial configuration of uninterrupted redundant manipulator trajectories in a manufacturing environment [J].

Mi, Zan ;

Yang, Jingzhou ;

Kim, Joo H. ;

Abdel-Malek, Karim .

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2011, 27 (01) :22-32

[10]

Mohri A, 2001, IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, P2264, DOI 10.1109/IROS.2001.976407

← 1 2 →