Three-dimensional Space Mechanics Analysis of Hexapod Robot with Electro-hydraulic Driven
A 3D model of hexapod robot leg mechanism is built,and the optimization problems of hydraulic design are discussed.Then its mechanics model is established.The output torque characteristics of robot each joint at steady state are obtained through the statics analysis,and the output torque characteris...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2015-01-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.01.040 |
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| author | Cheng Qian Jiang Gang |
| author_facet | Cheng Qian Jiang Gang |
| author_sort | Cheng Qian |
| collection | DOAJ |
| description | A 3D model of hexapod robot leg mechanism is built,and the optimization problems of hydraulic design are discussed.Then its mechanics model is established.The output torque characteristics of robot each joint at steady state are obtained through the statics analysis,and the output torque characteristics of robot each joint in the process of movement are obtained by Lagrange method as an approach for the dynamics analysis.Finally,based on the dynamics analysis results,the foot trajectory and leg posture simulations of single leg mechanism are carried out by using ADAMS,and through the results,the smooth movement of the leg mechanism is verified and the theoretical support for the follow-up research is provided. |
| format | Article |
| id | doaj-art-7e2fad8be5bc4037b3775dd2b0cfae42 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2015-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-7e2fad8be5bc4037b3775dd2b0cfae422025-01-10T14:12:39ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392015-01-0139434729914528Three-dimensional Space Mechanics Analysis of Hexapod Robot with Electro-hydraulic DrivenCheng QianJiang GangA 3D model of hexapod robot leg mechanism is built,and the optimization problems of hydraulic design are discussed.Then its mechanics model is established.The output torque characteristics of robot each joint at steady state are obtained through the statics analysis,and the output torque characteristics of robot each joint in the process of movement are obtained by Lagrange method as an approach for the dynamics analysis.Finally,based on the dynamics analysis results,the foot trajectory and leg posture simulations of single leg mechanism are carried out by using ADAMS,and through the results,the smooth movement of the leg mechanism is verified and the theoretical support for the follow-up research is provided.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.01.040Hexapod robotMechanics analysisElectro-hydraulic drivenDynamics |
| spellingShingle | Cheng Qian Jiang Gang Three-dimensional Space Mechanics Analysis of Hexapod Robot with Electro-hydraulic Driven Jixie chuandong Hexapod robot Mechanics analysis Electro-hydraulic driven Dynamics |
| title | Three-dimensional Space Mechanics Analysis of Hexapod Robot with Electro-hydraulic Driven |
| title_full | Three-dimensional Space Mechanics Analysis of Hexapod Robot with Electro-hydraulic Driven |
| title_fullStr | Three-dimensional Space Mechanics Analysis of Hexapod Robot with Electro-hydraulic Driven |
| title_full_unstemmed | Three-dimensional Space Mechanics Analysis of Hexapod Robot with Electro-hydraulic Driven |
| title_short | Three-dimensional Space Mechanics Analysis of Hexapod Robot with Electro-hydraulic Driven |
| title_sort | three dimensional space mechanics analysis of hexapod robot with electro hydraulic driven |
| topic | Hexapod robot Mechanics analysis Electro-hydraulic driven Dynamics |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.01.040 |
| work_keys_str_mv | AT chengqian threedimensionalspacemechanicsanalysisofhexapodrobotwithelectrohydraulicdriven AT jianggang threedimensionalspacemechanicsanalysisofhexapodrobotwithelectrohydraulicdriven |