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

Wojtkowiak, Dominik; Talaśka, Krzysztof; Malujda, Ireneusz; Górecki, Jan; Wilczyński, Dominik

doi:10.1051/matecconf/201925402029

Cited by 3 publications

(3 citation statements)

References 9 publications

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“…In [14], an analysis of static stability was carried out, which provided information about adequacy of design and possibilities of controlling robot. The study included analysis of typical robot postures aimed at maintaining static stability.…”

Section: Related Workmentioning

confidence: 99%

Modern Walking Robots: A Brief Overview

Lyashenko¹,

Ahmad²,

Belova³

et al. 2021

International Journal of Recent Technology and Applied Science

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In this review, we would like to present some of the most interesting modern designs of walking robots: bipedal, quadropedal, hexopedal, and octopods. Their advantages and disadvantages are highlighted. It has been determined that structures with eight or more limbs are ineffective due to high level of electricity consumption. The use of more than six number of legs does not give noticeable advantages in profile cross-country ability or maneuverability, however, it allows to reduce the forces and moments of inertia forces due to decrease in mode coefficient (ratio of time spent by propulsor in support to time of entire step), and, consequently, smoother leg movements in swing phase.

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Section: Related Workmentioning

confidence: 99%

Modern Walking Robots: A Brief Overview

Lyashenko¹,

Ahmad²,

Belova³

et al. 2021

International Journal of Recent Technology and Applied Science

View full text Add to dashboard Cite

show abstract

“…By juxtaposing these two models, we are able to examine designs at an early stage [2]. The use of mathematical models to describe the dynamics in a given device not only improves the control process of the machine (e.g., choosing the settings for control systems) but also makes it possible to verify its structural features [3][4][5]. The main challenge is usually the determination of model parameters for the basic mechanical components used in machine construction, such as guides, couplings, bearings, or belt transmissions [6,7].…”

Section: Introductionmentioning

confidence: 99%

Determining the Power Consumption of the Automatic Device for Belt Perforation Based on the Dynamic Model

et al. 2021

Self Cite

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The subject of the dynamic analysis presented in the article is the linear drive system with a timing belt utilized in the automatic device for polymer composite belt perforation. The analysis was carried out in two stages. In the first stage, the timing belt was modeled with all the relevant dynamic phenomena; subsequently, the tension force of the belt required for the correct operation of the belt transmission was determined. The necessary parameters for belt elasticity, vibration damping, and inertia are based exclusively on the catalog data provided by the manufacturer. During the second stage, equations of motion were derived for the designed drive system with a timing belt, and characteristics were identified to facilitate the optimal selection of electromechanical drives for the construction solution under analysis. The presented methodology allows for designing an effective solution that may be adapted for other constructions. The obtained results showed the influence of the kinematic parameters on the motor torque and proved the importance of reducing the mass of the components in machines that perform high-speed processes.

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“…e quadruped robot has high nonlinear dynamic characteristics and can work in the unstructured environment, which is a hot research topic in the field of industrial robots. Good stability is the basis for the robot to perform real-time operations, and it is also a major and difficult point in the study of quadruped robots [1][2][3]. At present, scholars at home and abroad mostly adopt the design and optimization of the structure of the robot or improve the control algorithm to achieve the stability of the robot.…”

Section: Introductionmentioning

confidence: 99%

Stable Balance Adjustment Structure of the Quadruped Robot Based on the Bionic Lateral Swing Posture

Qin

Luo

Chuang

et al. 2020

Mathematical Problems in Engineering

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Aiming at the problem that the stability of the quadruped robot is decreased as its leg momentum is too high, a stable balance adjustment structure of the quadruped robot based on the bionic lateral swing posture is proposed. First, the leg structure of the quadruped robot is improved and designed by using the mechanism of the lateral swing posture of the leg of the hoof animal. Then, the D-H method is used to construct the corresponding leg kinematics model and determine the generalized coordinates of the leg joints in the lateral swing posture. The torque expression of the quadruped robot when it is tilted is established. Based on the differential equation of momentum of the hip joint and its static stability analysis, the static stability conditions in the upright posture and the bionic lateral swing posture are given. Finally, the experimental simulation and comparative analysis of the upright posture and the lateral swing posture of the quadruped robot are proposed by using the Adams virtual prototype technology. The simulation results show that as the angle of lateral swing increases, the peak value of the positive flip torque of the quadruped robot body increases accordingly, while the degree of tilt decreases accordingly, which shows that the bionic lateral swing posture of the quadruped robot has higher static stability than the traditional upright posture. This research provides a technical reference for the design and optimization of the offline continuous gait of the robot and the improvement of stability.

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

Cited by 3 publications

References 9 publications

Modern Walking Robots: A Brief Overview

Modern Walking Robots: A Brief Overview

Determining the Power Consumption of the Automatic Device for Belt Perforation Based on the Dynamic Model

Stable Balance Adjustment Structure of the Quadruped Robot Based on the Bionic Lateral Swing Posture

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