期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
期号：1
页码：19
DOI：10.5772/53796
语种：English
出版社：SAGE Publications
摘要：In this paper the kinematic analysis of a six-legged robot, hereafter named Hex-piderix, is carried out. A three revolute (3R) chain has been chosen for each limb in order to mimic the leg structure of an insect. The rotation matrix, with unitary vectors, and the Denavit-Hartenberg (D-H) conventions are used to find the pose of the thorax. The problem of inverse position is solved by geometrical analysis. The direct and inverse infinitesimal kinematics are obtained by the reciprocal screw theory, considering a suction cup attached to each leg and modelling it as a UP linkage. A numerical example of the thorax pose was made by solving the equations obtained from the direct position analysis. The equations of the inverse position analysis were solved to obtain the angles of the joints. Finally, the velocity values of the thorax obtained from the infinitesimal kinematics were validated by simulating the movements of Hex-piderix using specialized software.
关键词：Hexapod Robot; Kinematics; Screw Theory; Suction Cup
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