文章基本信息

标题：Design Issues for Hexapod Walking Robots
本地全文：下载
作者：Franco Tedeschi ; Giuseppe Carbone
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2014
卷号：3
期号：2
页码：181-206
DOI：10.3390/robotics3020181
语种：English
出版社：MDPI Publishing
摘要：Hexapod walking robots have attracted considerable attention for several decades. Many studies have been carried out in research centers, universities and industries. However, only in the recent past have efficient walking machines been conceived, designed and built with performances that can be suitable for practical applications. This paper gives an overview of the state of the art on hexapod walking robots by referring both to the early design solutions and the most recent achievements. Careful attention is given to the main design issues and constraints that influence the technical feasibility and operation performance. A design procedure is outlined in order to systematically design a hexapod walking robot. In particular, the proposed design procedure takes into account the main features, such as mechanical structure and leg configuration, actuating and driving systems, payload, motion conditions, and walking gait. A case study is described in order to show the effectiveness and feasibility of the proposed design procedure.
关键词：hexapod robots; walking machines; design procedure