Please use this identifier to cite or link to this item: http://hdl.handle.net/1822/10236

TitleKinematics and dynamics study of a hexapod robotic system using computational packages’ capabilities
Author(s)Flores, Paulo
Claro, José Carlos Pimenta
Ribeiro, António Fernando
KeywordsKinematics
Hexapod
Robot
Simulation
Issue date2007
PublisherPublindústria
JournalRobótica
Citation"Robótica." ISSN 0874-9019. 66 (2007) 10-15.
Abstract(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.
TypeArticle
URIhttp://hdl.handle.net/1822/10236
ISSN0874-9019
Peer-Reviewedyes
AccessOpen access
Appears in Collections:DEI - Artigos em revistas nacionais

Files in This Item:
File Description SizeFormat 
AT 'Kinematics and Dynamics Study' ROB66.pdf288,72 kBAdobe PDFView/Open

Partilhe no FacebookPartilhe no TwitterPartilhe no DeliciousPartilhe no LinkedInPartilhe no DiggAdicionar ao Google BookmarksPartilhe no MySpacePartilhe no Orkut
Exporte no formato BibTex mendeley Exporte no formato Endnote Adicione ao seu ORCID