Concept of the Hexa-Quad Bimorph Walking Robot and the Design of its Prototype

Wojtkowiak, Dominik; Talaśka, Krzysztof; Malujda, Ireneusz

doi:10.2478/ama-2018-0010

Cited by 2 publications

(4 citation statements)

References 17 publications

(8 reference statements)

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“…Legged manipulators that are capable of performing operations and manipulation tasks in remote, harsh and dangerous environments have received a great amount of research interest. This kind of robotic systems typically employ a legged robot as the locomotion system and utilize one or two on-board manipulators, 1,2 one or two legs, [3][4][5] or even the legged robot body 6 to perform the specific tasks.…”

Section: Introductionmentioning

confidence: 99%

A method to improve the productivity of legged manipulators performing on-site manufacturing tasks on large-scale structures

Guo

Chen

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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Legged manipulators that combine legged robots with manipulators have emerged as a new solution to large-scale structure on-site manufacturing tasks. However, the productivity of legged manipulators is strongly affected by the positioning and repositioning process. This paper aims to improve the productivity of legged manipulators by reducing the required positioning and repositioning times. By treating a legged manipulator that attaches all feet to the ground as a virtual parallel robot, the workspace of the on-board manipulator can be enlarged while the end-effector maintains the motion precision. By choosing working positions that enable a legged manipulator to cover more processing regions with the enlarged workspace at a time, the required positioning and repositioning times can be reduced. The proposed method is implemented through a variant of a genetic algorithm to find the minimum set of working positions that enable a hexapod manipulator to accomplish welding tasks on a large-scale structure. Simulation results show that the required working positions of the hexapod manipulator are reduced significantly and thus higher productivity can be obtained. The flowchart to implement the proposed method is expected to improve the productivity of other kinds of legged manipulators that perform on-site manufacturing tasks.

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Section: Introductionmentioning

confidence: 99%

A method to improve the productivity of legged manipulators performing on-site manufacturing tasks on large-scale structures

Guo

Chen

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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show abstract

“…One example is the energy stability margin which involves measuring the difference between the actual potential energy and the initial one. Considering that all external forces including the force of gravity act on the centre of gravity of the robot the dynamic energy stability margin may be obtained [1,2].…”

Section: Introductionmentioning

confidence: 99%

“…1. Support polygon together with indicated stability margins [1] This paper focuses on considerations of how important the placement of the centre of gravity of the hexa-quad bimorph walking robot is with a view to its static stability (section 2). The objective of research presented in section 3 is drawing important conclusions regarding both the design adequacy and motion control methods.…”

Section: Introductionmentioning

confidence: 99%

“…Thanks to this solution, configurations can be changed by tilting up the front body segment. The concept and the construction of the hexa-quad bimorph walking robot was precisely described in authors previous papers [1,11,12]. Analytically formulated mathematical model of the centre of gravity and the simulation model formulated on its basis provide a lot of information about the design of the walking robot.…”

Section: Introductionmentioning

confidence: 99%

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Modelling and static stability analyses of the hexa-quad bimorph walking robot

et al. 2019

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Gait stability of the walking robot has great influence on the many functional features related to walking robots, from mechanical construction to control algorithms and generating steps. The goal of the presented research was a development of the concept of hexa-quad bimorph walking robot. Results of the performed static stability analysis allowed the initial verification of the mathematical model and provided information about the design adequacy and the possibilities of controlling the machine. The research involved analysing the characteristic postures of the robot focused on retaining static stability. To achieve this objective the mathematical model was made to determine the centre of gravity for the robot by using Denavit-Hartenberg notation. On this basis the simulation model was created in Matlab Simulink environment, where the described analyses were conducted. Based on the obtained results, the initial model error was determined at approximately 3%. It was also established that the centre of gravity for the design was not significantly different from the effective centre of gravity for the robot. This made it possible to achieve static stability through adequate alignment of the legs in nearly every robot configuration.

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Concept of the Hexa-Quad Bimorph Walking Robot and the Design of its Prototype

Cited by 2 publications

References 17 publications

A method to improve the productivity of legged manipulators performing on-site manufacturing tasks on large-scale structures

A method to improve the productivity of legged manipulators performing on-site manufacturing tasks on large-scale structures

Modelling and static stability analyses of the hexa-quad bimorph walking robot

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