TY - GEN
T1 - The intelligent leg design for cockroach robots based on differential gear structure
AU - Liu, Jingmeng
AU - Jiang, Jun
AU - Chen, Weihai
AU - Chen, Wenjie
PY - 2011
Y1 - 2011
N2 - In the design of cockroach robots, a major requirement is to increase the carrying capacity of the robots. This paper proposes a novel configuration for the leg design of cockroach robots. In this configuration, the operating principle of a differential gear in a car is used in the design of multi-legged robots, so the carrying capacity is doubled at the same situation, compared with conventional linkage based robots. Firstly, the movement performance of the mechanism, including the inverse kinematics is analyzed and a decoupling algorithm is presented to control the prototype. Secondly, the working space and carrying capacity is calculated and analyzed. Then the whole model is simulated by the combination of MATLAB and ADAMS. The result of the simulation shows an improved performance, which indicates that the mechanism design is reasonable and the analysis is correct.
AB - In the design of cockroach robots, a major requirement is to increase the carrying capacity of the robots. This paper proposes a novel configuration for the leg design of cockroach robots. In this configuration, the operating principle of a differential gear in a car is used in the design of multi-legged robots, so the carrying capacity is doubled at the same situation, compared with conventional linkage based robots. Firstly, the movement performance of the mechanism, including the inverse kinematics is analyzed and a decoupling algorithm is presented to control the prototype. Secondly, the working space and carrying capacity is calculated and analyzed. Then the whole model is simulated by the combination of MATLAB and ADAMS. The result of the simulation shows an improved performance, which indicates that the mechanism design is reasonable and the analysis is correct.
KW - ADAMS
KW - decoupling algorithm
KW - differential gear
KW - multiplication
KW - simulation
UR - https://www.scopus.com/pages/publications/80052239024
U2 - 10.1109/ICIEA.2011.5975856
DO - 10.1109/ICIEA.2011.5975856
M3 - 会议稿件
AN - SCOPUS:80052239024
SN - 9781424487554
T3 - Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011
SP - 1654
EP - 1659
BT - Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011
T2 - 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011
Y2 - 21 June 2011 through 23 June 2011
ER -