A Research on Dynamics of a Hexapod with Closed-Loop Legs

  • Authors:

  • Jingjin Shen;Chenggang Li;Hongtao Wu

  • Affiliations:

  • College of Mechanical Engineering, Nanjing University Of Aeronautics And Astronautics, Nanjing, P.R. China 210016;College of Mechanical Engineering, Nanjing University Of Aeronautics And Astronautics, Nanjing, P.R. China 210016;College of Mechanical Engineering, Nanjing University Of Aeronautics And Astronautics, Nanjing, P.R. China 210016

  • Venue:
  • ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
  • Year:
  • 2008

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Abstract

We design a hexapod with closed-loop legs which can achieve locomotion in the horizontal plane with small vertical displacement changes. Furthermore, the hexapod does not need any control if it uses the tripod gait to achieve straight movement, due to the specific property of its leg. Because the efficiency of dynamics computation plays an important role in many applications, so we combine the AB algorithm of Featherstone which is suited for the manipulator with a fixed base, the Orin's DTS method which models the contact between the foot of robot with the ground, Brandl's method disposing constraint problems and a constraint violation stability method which selects the Baumgert parameters dynamically to process a dynamic analysis of the hexapod. At the same time, the hexapod dynamics is analyzed by ADAMS which adopts the Newton-Euler MBDA(multi-body dynamic algorithm) to process the dynamics analysis. The analysis results of the hexapod with these algorithms are compared to show the differences of the results using the two algorithms and distinguish which algorithms needs less calculation operations for the hexapod.