Payload Capability Analysis of a New Kind of Parallel Leg Hexapod Walking Robot

被引：0
|
作者：
Pan, Yang [1 ]
Gao, Feng [1 ]
机构：
[1] Shanghai Jiao Tong Univ, State Key Lab Mech Syst & Vibrat, Dept Mech Engn, Shanghai 200030, Peoples R China
来源：
2013 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS) | 2013年
关键词：
Hexapod Robot; Parallel Mechanism; Kinematic Model; Walking Machines; OPTIMAL KINEMATIC DESIGN; 3-DOF; 2-DOF;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper presents a new kind of walking robot for nuclear plants when nuclear disaster happens. It is designed to finish several tasks such as: turning off the pump in the nuclear; detecting the situations inside the plants and so on. The robot applies parallel mechanism for each leg which is seldom used in walking machines. In this paper, the background is introduced first and then the robot mechanism is analyzed. Then the force calculation is shown and theoretical analysis is presented which proves the leg has very high load-bearing capability. The experiment results are also included and the prototype turned out to be very successful for that it can walk easily with more than 150 kg load.
引用
收藏
页码：541 / 544
页数：4
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