Model-Based Insights on the Design of a Hexapod Magnetic Walker

被引：9

作者：

St Pierre, Ryan ^{[1
]}

Vogtmann, Dana ^{[1
]}

Bergbreiter, Sarah ^{[1
]}

机构：

[1] Univ Maryland, Dept Mech Engn, College Pk, MD 20742 USA

来源：

EXPERIMENTAL ROBOTICS | 2016年 / 109卷

关键词：

Millirobot; Magnetic actuation; Optimization;

D O I：

10.1007/978-3-319-23778-7_47

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We present a design for a 1 cm(3) magnetically actuated hexapedal walking robot fabricated using an all-polymer multi-material fabrication process capable of integrating sub-mm elastomeric joints into rigid polymer links. Modeling, optimization, and experimental insights from several different leg designs were used to improve the robot performance. The fabricated robots are capable of speeds up to 10.6 body lengths per second. This work focuses on the development of models for locomotion at small-scales as well as experimental validation and input back to the model.

引用

页码：715 / 727

页数：13

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