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Structure Design and Dynamic Analysis of on a New Kind of Hexapod Bio-robot

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Tutor: LiChengGang
School: Nanjing University of Aeronautics and Astronautics
Course: Mechanical and Electronic Engineering
Keywords: Six-legged walking robot,Gait,Linkage Mechanism,Kinematics,Dynamics
CLC: TP242
Type: Master's thesis
Year:  2008
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Abstract:
The walk through the complex terrain robot as an alternative to the wheeled or crawler mobile device of the growing body of research institutions , with its unique advantages . The six - legged walking machine as a static stability in the course of the campaign , the foot at the same time a small number of mobile robots , its relatively extensive and in-depth research . Currently , the design of the six - legged walking machine leg institutions usually imitate animal legs , making it with multiple degrees of freedom can be achieved large work space and movement flexibility , but also increases the difficulty of control . This article focuses on the mobile capabilities of the machine insect , the goal is to get forward , turning mobile with fewer degrees of freedom to configure the bionic insects . In this paper, a multi-legged walking robot concept development process; designed to meet the requirements of motor function , leg structure at the same time the number of degrees of freedom is smaller overall driving source required less bionic insects and their movement gait . Walking robot legs institutions , comprehensive out a six- bar linkage with the right foot end trajectory as its legs institutions ; legs institutions forward kinematics implicit function method for solving nonlinear equations method analysis ; spinor method to express a clear geometric meaning , this paper applies the the spinor theory that the special position of the six -bar linkage analysis . In the leg mechanism analysis on the basis of given bionic the insect overall kinematics analysis . Euler - Lagrange method ADAMS software and using the AB recursive algorithm the software DynaMechs under bionic insects dynamics simulation and analysis , and compared the results of the two algorithms . Finally, build physical prototypes to validate the work made ??.
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