DESIGN AND IDENTIFICATION OF A SIX DEGREE OF FREEDOM HEXAPOD ROBOT

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

SAYADI HASAN; YAZDENSHANS SHAD B.

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: MECHANICAL ENGINEERING SHARIF (SHARIF: MECHANICAL ENGINEERING) Year:2009 | Volume:25 | Issue:48.2 Page(s): 93-106

Download Full-Text

Persian Verion

View:

1,318

Download:

Cites:

Information Journal Paper

Title

DESIGN AND IDENTIFICATION OF A SIX DEGREE OF FREEDOM HEXAPOD ROBOT

Author(s)

SAYADI HASAN | YAZDENSHANS SHAD B. | Issue Writer Certificate

Keywords

SIMULATIONQ2

DYNAMICSQ2

FOUR BAR IINKAGESQ3

KINEMATICSQ3

HEXAPOD ROBOTQ3

Abstract

In this research work a HEXAPOD ROBOT having 6DOF has been addressed while its feet are driven using four bar linkage mechanism. Although each foot has only one active DOF for its linkage, the robot overally behaves very similar to hexapod insect, called cockroach, rather than other HEXAPOD ROBOT with 6 DOF. This is one of the most important advantages of the proposed mechanism here using 4-bar linkage mechanism. This is the new aspect of the mechanism here comparing to some similar work on HEXAPOD ROBOTs. In this paper at first, motion analysis of cockroach has been studied, then equivalent robotic system is identified by using 4-bar linkage mechanism for its feet motion, and its KINEMATICS equations and numerical SIMULATIONs have been addressed. Finally, robot statics stability and DYNAMICS equations are derived and then driving power and DYNAMICS SIMULATIONs have been studied and addressed.

Cites

No record.

References

No record.

Cite

APA: Copy

SAYADI, HASAN, & YAZDENSHANS SHAD, B.. (2009). DESIGN AND IDENTIFICATION OF A SIX DEGREE OF FREEDOM HEXAPOD ROBOT. MECHANICAL ENGINEERING SHARIF (SHARIF: MECHANICAL ENGINEERING), 25(48.2), 93-106. SID. https://sid.ir/paper/128294/en

Vancouver: Copy

SAYADI HASAN, YAZDENSHANS SHAD B.. DESIGN AND IDENTIFICATION OF A SIX DEGREE OF FREEDOM HEXAPOD ROBOT. MECHANICAL ENGINEERING SHARIF (SHARIF: MECHANICAL ENGINEERING)[Internet]. 2009;25(48.2):93-106. Available from: https://sid.ir/paper/128294/en

IEEE: Copy

HASAN SAYADI, and B. YAZDENSHANS SHAD, “DESIGN AND IDENTIFICATION OF A SIX DEGREE OF FREEDOM HEXAPOD ROBOT,” MECHANICAL ENGINEERING SHARIF (SHARIF: MECHANICAL ENGINEERING), vol. 25, no. 48.2, pp. 93–106, 2009, [Online]. Available: https://sid.ir/paper/128294/en

Related Journal Papers