DESIGN OF A HEXAPOD ROBOTIC SYSTEM（六足机器人系统的设计）.pdfVIP

DESIGN OF A HEXAPOD ROBOTIC SYSTEM J. P. Flores Fernandes J. C. Pimenta Claro Fernando Ribeiro Mech. Engineering Depart. Mech. Engineering Depart. Industrial Electronic Depart. School of Engineering School of Engineering School of Engineering University of Minho University of Minho University of Minho Campus de Azurém Campus de Azurém Campus de Azurém 4800-058 Guimarães 4800-058 Guimarães 4800-058 Guimarães Portugal Portugal Portugal pflores@eng.uminho.pt jcpclaro@dem.uminho.pt fernando@dei.uminho.pt ABSTRACT The main purpose of this work was to design a prototype of an autonomous hexapod robot. This paper reports on an initial phase, where the basic geometry of the system was specified and improved through a kinematics and dynamic study, using a motion analysis software. This also allowed the design of all mechanical components and the definition of motion generation needs. In this paper the importance of legged robots on mobile research is emphasised. The capabilities of the computational programs specially dedicated to the analysis of mechanical systems are demonstrated. The mobility of the geometric model presented in this paper is a trade-off between natural idea and technical feasibility. Some results of the virtual simulation of the movement of this hexapod robotic system are presented. INTRODUCTION The main purpose of the work presented in this paper was to design a prototype of a hexapod robotic system.