MATEC Web Conf.
Volume 254, 2019XXIII Polish-Slovak Scientific Conference on Machine Modelling and Simulations (MMS 2018)
|Number of page(s)||12|
|Section||Modelling and Simulation, Structural Optimization|
|Published online||15 January 2019|
Modelling and static stability analyses of the hexa-quad bimorph walking robot
Chair of Basics of Machine Design, Poznan University of Technology, ul. Piotrowo 3, 60-965 Poznań, Poland
* Corresponding author: email@example.com
Gait stability of the walking robot has great influence on the many functional features related to walking robots, from mechanical construction to control algorithms and generating steps. The goal of the presented research was a development of the concept of hexa-quad bimorph walking robot. Results of the performed static stability analysis allowed the initial verification of the mathematical model and provided information about the design adequacy and the possibilities of controlling the machine. The research involved analysing the characteristic postures of the robot focused on retaining static stability. To achieve this objective the mathematical model was made to determine the centre of gravity for the robot by using Denavit-Hartenberg notation. On this basis the simulation model was created in Matlab Simulink environment, where the described analyses were conducted. Based on the obtained results, the initial model error was determined at approximately 3%. It was also established that the centre of gravity for the design was not significantly different from the effective centre of gravity for the robot. This made it possible to achieve static stability through adequate alignment of the legs in nearly every robot configuration.
Key words: walking robot / hexa-quad / bimorph / hexapod / quadruped
© The Authors, published by EDP Sciences, 2019
This is an open access article distributed under the terms of the Creative Commons Attribution License 4.0 (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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