Main Catalog Mechanical Engineering and Machine Science Robots, Mechatronics, and Robotic Systems

Kinematic scheme designing of hexapod walking robot tree actuator

Authors: Akylbekov E.E.
Published in issue: #4(4)/2016
DOI: 10.18698/2541-8009-2016-4-33
Category: Mechanical Engineering and Machine Science \| Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: hexapod walking robots, synthesis of kinematic structure, modified Denavit-Hartenberg coordinate system, reachability matrix
Published: 14.02.2017

The article focuses on the existing hexapod walking robots and kinematic scheme of their actuator. We examine Denavit-Hartenberg parameters and reachability matrix. The popularity of such robots is largely due to the fact that the problem of static stability of moving hexapod machines is solved simply compared to other structures.

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