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Kinematical Model and Topology Patterns of a New 6-Parallel-Legged Walking Robot

[+] Author Affiliations
Pan Yang, Feng Gao

Shanghai Jiaotong University, Shanghai, China

Paper No. DETC2012-70371, pp. 1197-1205; 9 pages
doi:10.1115/DETC2012-70371
From:
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME

abstract

In this paper, a new kind of 6-legged robot is presented. It was designed for drilling holes on the aircraft surface. Each leg of the robot is a 3-DOF parallel mechanism and the actuation can be controlled both by position and force. The mechanism design method of the robot is discussed. The relationship between control method and motion topology under different working conditions is studied. The kinematical model is built, based on which the motion plan are made. The control method is position-force control, so the calculation of actuation force is done. Finally, the simulation result is showed: the robot can drill on the fuselage surface successfully and the position-force control method can improve its performance a lot.

Copyright © 2012 by ASME
Topics: Robots , Topology

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