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Lateral Stable Workspace of Hexapod Walking Machines With Constant Orientation Platform

[+] Author Affiliations
Long Qu, Mahdi Agheli, Stephen S. Nestinger

Worcester Polytechnic Institute, Worcester, MA

Paper No. DETC2013-12463, pp. V004T08A054; 7 pages
  • ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 18th Design for Manufacturing and the Life Cycle Conference; 2013 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
  • Portland, Oregon, USA, August 4–7, 2013
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5591-1
  • Copyright © 2013 by ASME


Due to the importance of the workspace and stability in mobile robot dynamic control, a variety of workspace and stability criteria exist in the field of multi-legged and wheeled robotics. This paper presents a methodology for determining the stable workspace, the subspace of the workspace for which the system is considered stable. The presented derivation utilizes the normal foot force distribution of the system to determine stability and integrates the stability into the lateral workspace of a mobile machining hexapod robot. The analytical inequalities governing the boundary of the stable workspace are derived. A discussion on the effects of physical and geometrical characteristics of the hexapod robot on the stable workspace methodology is given. The stable workspace methodology is validated through a simulation and an application to mobile machining is presented.

Copyright © 2013 by ASME



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