Preprint Article Version 1 This version is not peer-reviewed

Stability and Gait Planning of 3-UPU Hexapod Walking Robot

Version 1 : Received: 23 August 2018 / Approved: 23 August 2018 / Online: 23 August 2018 (13:31:36 CEST)

How to cite: Li, R.; Meng, H.; Bai, S.; Yao, Y.; Zhang, J. Stability and Gait Planning of 3-UPU Hexapod Walking Robot. Preprints 2018, 2018080416 (doi: 10.20944/preprints201808.0416.v1). Li, R.; Meng, H.; Bai, S.; Yao, Y.; Zhang, J. Stability and Gait Planning of 3-UPU Hexapod Walking Robot. Preprints 2018, 2018080416 (doi: 10.20944/preprints201808.0416.v1).

Abstract

The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enables the robot to walk with simple gait by very few motors. In the paper, the forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrain.

Subject Areas

hexapod walking robot; 3-UPU parallel mechanism; kinematics; stability; gait planning

Comments (0)

We encourage comments and feedback from a broad range of readers. See criteria for comments and our diversity statement.

Leave a public comment
Send a private comment to the author(s)
Views 0
Downloads 0
Comments 0
Metrics 0


×
Alerts
Notify me about updates to this article or when a peer-reviewed version is published.