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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Muhammed, R. Pac Dan, O. Popa |
| Copyright Year | 2010 |
| Abstract | Legged robots are more maneuverable, and can negotiate rough terrain much better than conventional locomotion using wheels. However, since the kinematic or dynamic analysis of such robots involves closed chains, it is typically more difficult to investigate the impact of design changes, such as the number, or the design of its legs, to robot performance. Most legged robots consist of 4 legs (quadrupeds) or 6 legs (hexapods). This paper discusses the kinematic analysis of an unconventional, symmetrical 5-legged robot with 2-DOF (Degrees Of Freedom) universal joints in each leg. The analysis was carried out in order to predict the mobility of the upper body platform, and investigate the number of robot actuators needed for mobility. The product of exponentials formulation with respect to the local coordinate frames is used to describe the twists of the joints. The analysis is based on the idea that the robot body platform along with the legs can be considered instantaneously as a parallel robot manipulating the ground. Hence, the analysis can be done using the Jacobian formulation of parallel robots. Simulation results confirm the mobility analysis that the robot can have at most 3-DOF for the body and that these freedoms are coupled rotations and translations in 3D space also with a dependence on the configuration of the robot. |
| Sponsorship | Design Engineering Division and Computers in Engineering Division |
| Starting Page | 1427 |
| Ending Page | 1435 |
| Page Count | 9 |
| File Format | |
| ISBN | 9780791844106 |
| DOI | 10.1115/DETC2010-28993 |
| e-ISBN | 9780791838815 |
| Volume Number | Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B |
| Conference Proceedings | ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2010-08-15 |
| Publisher Place | Montreal, Quebec, Canada |
| Access Restriction | Subscribed |
| Subject Keyword | Mechanical admittance Actuators Chain Degrees of freedom Dynamic analysis Wheels Surface roughness Mobile robots Design Jacobian matrices Simulation results Kinematics Symmetry (physics) Kinematic analysis Universal joints Robots |
| Content Type | Text |
| Resource Type | Article |
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