DESIGN OF HEXAPOD WALKING ROBOTS BASED ON WORKSPACE MAXIMIZATION

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RASTGAR HAMID; AGHELI HAJI ABADI MOHAMMAD MAHDI

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Journal: Modares Mechanical Engineering Year:2016 | Volume:16 | Issue:9 Page(s): 216-222

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Information Journal Paper

Title

DESIGN OF HEXAPOD WALKING ROBOTS BASED ON WORKSPACE MAXIMIZATION

Author(s)

RASTGAR HAMID | AGHELI HAJI ABADI MOHAMMAD MAHDI | Issue Writer Certificate

Keywords

HEXAPODQ2

WORKSPACEQ2

REACHABLE WORKSPACEQ1

OPTIMIZATIONQ2

MANIPULATIONQ1

Abstract

HEXAPOD walking robots can be employed for both walking and MANIPULATION purposes. When manipulating, they have 6 degrees of freedom for top platform, high rigidity, high load capacity, high speed, and accuracy. On the other hand, it is well known that they have limited WORKSPACE when they are fixed in place for MANIPULATION. Designing a HEXAPOD robot resulting in a maximized WORKSPACE can greatly affect the efficiency of the robot when manipulating. Since radially symmetric HEXAPOD walking robots can be modeled as three 2-RPR planar parallel mechanisms, we have used the methods and calculations that are used in this kind of mechanism for designing a radially symmetric HEXAPOD walking robot. In this paper, after a thorough review on existing methods for calculating and improving 2-RPR planar parallel mechanism WORKSPACE, an algorithm is presented that results in a maximized reachable WORKSPACE. The merit of the method is that there is no need to calculate the WORKSPACE volume when maximizing it. Also, following this algorithm is necessary for design of the maximized WORKSPACE robot. In other words, the output of the presented OPTIMIZATION algorithm is a set of robot kinematic parameters, which guarantees the maximized volume of the robot’s reachable WORKSPACE.

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APA: Copy

RASTGAR, HAMID, & AGHELI HAJI ABADI, MOHAMMAD MAHDI. (2016). DESIGN OF HEXAPOD WALKING ROBOTS BASED ON WORKSPACE MAXIMIZATION. MODARES MECHANICAL ENGINEERING, 16(9), 216-222. SID. https://sid.ir/paper/179775/en

Vancouver: Copy

RASTGAR HAMID, AGHELI HAJI ABADI MOHAMMAD MAHDI. DESIGN OF HEXAPOD WALKING ROBOTS BASED ON WORKSPACE MAXIMIZATION. MODARES MECHANICAL ENGINEERING[Internet]. 2016;16(9):216-222. Available from: https://sid.ir/paper/179775/en

IEEE: Copy

HAMID RASTGAR, and MOHAMMAD MAHDI AGHELI HAJI ABADI, “DESIGN OF HEXAPOD WALKING ROBOTS BASED ON WORKSPACE MAXIMIZATION,” MODARES MECHANICAL ENGINEERING, vol. 16, no. 9, pp. 216–222, 2016, [Online]. Available: https://sid.ir/paper/179775/en

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