Mathematical model for kinematics and dynamics of a tree-like actuator for a hexapod walking robot

Authors: Akylbekov E.E.
Published in issue: #4(9)/2017
DOI: 10.18698/2541-8009-2017-4-71
Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: hexapod walking robots, synthesis of kinematic structures, modified Denavit—Hartenberg coordinates, reachability matrix, dynamic equation of a hexapod walking robot actuator
Published: 10.04.2017

We propose a kinematic diagram of a tree-like actuator for a hexapod walking robot. We consider mathematical models for actuator kinematics and dynamics of this type of robot. We supply modified Denavit—Hartenberg parameter values, a reachability matrix for the actuator links and the Z vector that characterises where the rotation axes of kinematic pairs are located in three dimensions.

References

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