Next Article in Journal
Comparison of Grinding Characteristics of Converter Steel Slag with and without Pretreatment and Grinding Aids
Previous Article in Journal
Extraction of Glycyrrhizic Acid from Glycyrrhiza uralensis Using Ultrasound and Its Process Extraction Model
Article Menu

Export Article

Open AccessArticle
Appl. Sci. 2016, 6(11), 323; doi:10.3390/app6110323

Analysis Method of Articulated Torque of Heavy-Duty Six-Legged Robot under Its Quadrangular Gait

1
College of Mechanical Engineering, Tianjin University of Technology and Education, Tianjin 300222, China
2
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
*
Authors to whom correspondence should be addressed.
Academic Editor: Kuang-Cha Fan
Received: 19 September 2016 / Revised: 20 October 2016 / Accepted: 25 October 2016 / Published: 28 October 2016

Abstract

The articulated torque is an important base for developing heavy-duty multi-legged robots. To quickly obtain accurate articulated torques, a method is presented for an electrically driven heavy-duty six-legged robot under its quadrangular gait. First, the typical walking ways and the working conditions of support phase are analyzed. The static articulated torques are solved though Matrix Laboratory (MATLAB) software. The variable tendency charts of torques are acquired with the changes in the joint angles. The static simulation of robot is carried out by Automatic Dynamic Analysis of Mechanical Systems (ADAMS) software. A comparative analysis of the maximum static articulated torques shows that the theoretical calculation values are smaller than the static simulation values. The maximum error value is about 5%. Finally, a prototype of the electrically driven heavy-duty six-legged robot is developed. Its climbing experiments prove that the proposed method can be applied to quickly determine accurate articulated torques. View Full-Text
Keywords: heavy-duty six-legged robot; quadrangular gait; articulated torque; MATLAB; ADAMS heavy-duty six-legged robot; quadrangular gait; articulated torque; MATLAB; ADAMS
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Zhuang, H.-C.; Gao, H.-B.; Deng, Z.-Q. Analysis Method of Articulated Torque of Heavy-Duty Six-Legged Robot under Its Quadrangular Gait. Appl. Sci. 2016, 6, 323.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Appl. Sci. EISSN 2076-3417 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top