Mechanical design of hexapods with integrated limb mechanism: MELMANTIS-1 and MELMANTIS-2

This paper describes the mechanical design and basic control of prototype hexapods with integrated limb mechanism, named MELMANTIS-1 and MELMANTIS-2. MELMANTIS-1 and MELMANTIS-2 use a six-bar linkage with four degrees-of-freedom as an integrated limb mechanism with dual use for leg and for arm. The...

Full description

Saved in:
Bibliographic Details
Main Authors: Koyachi, N., Arai, T., Adachi, H., Murakami, A., Kawai, K.
Format: Conference Proceeding
Language:English
Subjects:
Couplings
Ellipsoids
Leg
Legged locomotion
Manipulators
Manufacturing
Production facilities
Prototypes
Robot kinematics
Robotics and automation
Citations: Items that cite this one
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper describes the mechanical design and basic control of prototype hexapods with integrated limb mechanism, named MELMANTIS-1 and MELMANTIS-2. MELMANTIS-1 and MELMANTIS-2 use a six-bar linkage with four degrees-of-freedom as an integrated limb mechanism with dual use for leg and for arm. The mechanical design of MELMANTIS-1 is based on kinematic analysis of the six-bar linkage. MELMANTIS-2 is designed and manufactured to improve mechanical stiffness and to reduce position control errors of arms, based on the result of basic experiments of MELMANTIS-1.
DOI:10.1109/ICAR.1997.620194