Analysis Method of Articulated Torque of Heavy-Duty Six-Legged Robot under Its Quadrangular Gait

The articulated torque is an important base for developing heavy-duty multi-legged robots. To quickly obtain accurate articulated torques, a method is presented for an electrically driven heavy-duty six-legged robot under its quadrangular gait. First, the typical walking ways and the working conditi...

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Bibliographic Details
Published in:Applied sciences 2016-10, Vol.6 (11), p.323-323
Main Authors: Zhuang, Hong-Chao, Gao, Hai-Bo, Deng, Zong-Quan
Format: Article
Language:English
Subjects:
ADAMS
articulated torque
Computer programs
Dynamical systems
Energy dissipation
Gait
heavy-duty six-legged robot
MATLAB
quadrangular gait
Robotics
Robots
Simulation
Software
Torque
Walking
Working conditions
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Summary:The articulated torque is an important base for developing heavy-duty multi-legged robots. To quickly obtain accurate articulated torques, a method is presented for an electrically driven heavy-duty six-legged robot under its quadrangular gait. First, the typical walking ways and the working conditions of support phase are analyzed. The static articulated torques are solved though Matrix Laboratory (MATLAB) software. The variable tendency charts of torques are acquired with the changes in the joint angles. The static simulation of robot is carried out by Automatic Dynamic Analysis of Mechanical Systems (ADAMS) software. A comparative analysis of the maximum static articulated torques shows that the theoretical calculation values are smaller than the static simulation values. The maximum error value is about 5%. Finally, a prototype of the electrically driven heavy-duty six-legged robot is developed. Its climbing experiments prove that the proposed method can be applied to quickly determine accurate articulated torques.
ISSN:2076-3417
2076-3417
DOI:10.3390/app6110323