Mass Distribution Effects on Dynamic Performance of a Cable-Driven Hexapod

[+] Author and Article Information
Alan P. Bowling

Department of Aerospace and Mechanical Engineering, Robotics and Dynamic Systems Laboratory, University of Notre Dame, Notre Dame, IN 46556abowling@nd.edu

J. Mech. Des 129(8), 887-890 (Aug 21, 2006) (4 pages) doi:10.1115/1.2735639 History: Received February 16, 2006; Revised August 21, 2006

This paper illustrates the use of dynamic performance analysis in the design of legged robots, specifically hexapods. This is accomplished by comparing the dynamic performance of a cable-driven hexapod to that of a more conventional design in which the actuators are mounted at the joints. By integrating the actuators into the torso and through the use of cable transmission, the mass and inertias of the legs are reduced in order to attain high accelerations and backdrivability. The dynamic performance described herein is bounded by the actuator torque limits and the no-slip condition at the ground contact points. The result is a description of how well each hexapod can accelerate its torso without causing slippage at the ground contact points.

Copyright © 2007 by American Society of Mechanical Engineers
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Figure 1

Cockroach-like cable-driven leg design

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Figure 2

The (a) cable-driven and (b) conventional hexapods

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Figure 3

DCC for CON at [0deg30deg90deg][0deg45deg92.5deg]

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Figure 4

Case Study I results: (a) configurations for stance phase of a stride for the tripod gait; (b) translational and (c) rotational acceleration in every direction; and (d) translational acceleration in forward direction. CAB and CON are indicated by white and black markers respectively.

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Figure 5

Case Study II and III results: (a) configurations for stance width at midstance; (b) translational; and (c) rotational acceleration of the torso in every direction; and (d) translational acceleration capability of swing phase legs. CON and CAB are indicated by white and black markers, respectively, while circular and triangular markers indicate friction or actuator torque bounded accelerations, respectively.



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