Degree of freedom analysis of hexapod wall-climbing robot

DOI

10.2991/mmebc-16.2016.217How to use a DOI?

Keywords

hexapod robot, spinor theory, degree of freedom analysis, symmetrically initial states.

Abstract

The knowledge of degree of freedom (referred as DOF) is indispensable before a parallel mechanism is designed, but the traditional Grubler-Kutzbach formula (referred as G-K formula) which is widely used is not appropriate for complicated mechanism, especially the hexapod robots. In order to derive the kinematics model of the robot, the motion of single branch and the corresponding spinors is derived based on spinor theory. The constraint spinors of each branch are integrated and the allowed movement matrix is determined. And then, the DOF of the robot in a certain initial state is derived from the rank of the matrix. Furthermore, the DOF analysis under symmetrically initial states is discussed in detail.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Chuntai Ye
AU  - Yinlong Yuan
AU  - Wei Wu
PY  - 2016/06
DA  - 2016/06
TI  - Degree of freedom analysis of hexapod wall-climbing robot
BT  - Proceedings of the 2016 6th International Conference on Machinery, Materials, Environment, Biotechnology and Computer
PB  - Atlantis Press
SP  - 1041
EP  - 1048
SN  - 2352-5401
UR  - https://doi.org/10.2991/mmebc-16.2016.217
DO  - 10.2991/mmebc-16.2016.217
ID  - Ye2016/06
ER  -