Utilize este identificador para referenciar este registo: http://hdl.handle.net/1822/10236

TítuloKinematics and dynamics study of a hexapod robotic system using computational packages’ capabilities
Autor(es)Flores, Paulo
Claro, José Carlos Pimenta
Ribeiro, António Fernando
Palavras-chaveKinematics
Hexapod
Robot
Simulation
Data2007
EditoraPublindústria
RevistaRobótica
Citação"Robótica." ISSN 0874-9019. 66 (2007) 10-15.
Resumo(s)The main purpose of this work was to perform kinematics and dynamics analysis of a prototype of an autonomous hexapod robot. This paper reports on an initial phase, where the basic geometry of the system was specified and improved through a kinematics and dynamic study by using a motion analysis software. This study also allowed the design of all mechanical components and the definition of motion generation needs. In this paper the importance of legged robots on mobile research is emphasised. The capabilities of the computational programs specially dedicated to the analysis of mechanical systems are also discussed. The mobility of the geometric model presented in this paper is a trade-off between natural idea and technical feasibility. Some results of the computational simulations of the movement of the proposed hexapod robotic system are presented and discussed under the premises and assumptions adopted in this work.
Tipoarticle
URIhttp://hdl.handle.net/1822/10236
ISSN0874-9019
Arbitragem científicayes
AcessoopenAccess
Aparece nas coleções:DEI - Artigos em revistas nacionais

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