Mechanism design and workspace analysis of a hexapod robot

  • How does a hexapod robot work?

    A hexapod robot is a robot with six legs.
    Each leg is actuated by three servos: one for forward/backward movement, one for up/down movement, and one to bend the leg in the middle.
    This gives the robot three degrees of freedom, allowing it to move in any direction..

  • What is the movement mechanism of the hexapod robot?

    The motion of a hexapod consists of two phases: the trans- fer phase, where a leg is transferred from one foothold to another, and the support phase, where the legs supporting the robot's mass move the body in the desired direction. 1 In virtually all cases, footholds are confined to the support (ground) surface..

  • What is the theory of hexapod robot?

    A hexapod robot is a mechanical vehicle that walks on six legs.
    Since a robot can be statically stable on three or more legs, a hexapod robot has a great deal of flexibility in how it can move.
    If legs become disabled, the robot may still be able to walk..

  • The hexapod robot has custom design chassis, with six identical legs distributed evenly on the body.
    Each leg contains three-servo motor.
    And a total of 18 servo motors are used.
  • The purpose of the hexapod robot with manoeuvrable wheel is to ease the movement either on the flat surface or on the inclined surface.
    On the flat surface, the robot will move using the manoeuvrable wheel while on incline surface, the robot will climb using its legs.
The mechanical topology of the hexapod robot is determined by comprehensively considering walking stability, energy consumption, and operating dexterity. A 
The topology of the hexapod robot is designed as two walking platforms and a waist to improve the operating dexterity. Because adopting the 2-DOF leg mechanisms 

Can a robot body be a reachable workspace with Shank-ground interferences?

Besides, the analytical method of calculating the reachable workspace of the robot body with shank-ground interferences is studied for the first time, which helps to enhance the efficiency of foothold selection

The feasibility of integrating the analytical workspace in obstacle-surmounting is verified by climbing a 45-degree staircase

How do you calculate a radially symmetric hexapod robot?

The 2D COW of pair-wise opposite legs was derived firstly and then revolved to the 3D COW

After that, the total 3D COW of the radially symmetric hexapod robot was calculated as the intersection of the 3D COW of each pair-wise opposite legs

How does a hexapod robot work?

The leg mechanisms of the typical hexapod robots have three actuators, which burdens energy consumption

The topology of the hexapod robot is designed as two walking platforms and a waist to improve the operating dexterity

Because adopting the 2-DOF leg mechanisms causes the robot to lose the rolling and laterally moving DOFs of the robot body


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