Pre-gait analysis using optimal parameters for a walking machine tool based on a free-leg hexapod structure
| Autor: | Salvador Cobos-Guzman, Adam Rushworth, Dragos Axinte, Mark Raffles |
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| Rok vydání: | 2015 |
| Předmět: |
Mathematics(all)
Hexapod business.product_category Computer science General Mathematics Stability (learning theory) Effect of gait parameters on energetic cost Robotised machine tool Kinematics Gait Computer Science Applications Machine tool Computer Science::Robotics Gait (human) Control and Systems Engineering Gait analysis Walking robot 6-axis milling machine Torque business Software Simulation |
| Zdroj: | Robotics and Autonomous Systems. 70:36-51 |
| ISSN: | 0921-8890 |
| DOI: | 10.1016/j.robot.2015.04.001 |
| Popis: | The scope of this paper is to present a novel gait methodology in order to obtain an efficient walking capability for an original walking free-leg hexapod structure (WalkingHex) of tri-radial symmetry. Torque in the upper (actuated) spherical joints and stability margin analyses are obtained based on a constraint-driven gait generator. Therefore, the kinematic information of foot pose and angular orientation of the platform are considered as important variables along with the effect that they can produce in different gait cycles. The torque analysis is studied to determine the motor torque requirements for each step of the gait so that the robotic structure yields a stable and achievable pose. In this way, the analysis of torque permits the selection of an optimal gait based on stability margin criteria. Consequently, a gait generating algorithm is proposed for different types of terrain such as flat, ramp or stepped surfaces. Proposes a layout for a walking free-leg hexapod machine tool.Optimisation approach for tripod gait based on selected system parameters.Proposes an algorithm for independent walking motion based on stability. |
| Databáze: | OpenAIRE |
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