SHeRo: Scalable hexapod robot for maintenance, repair, and operations

Agheli, Mahdi; Qu, Long; Nestinger, Stephen S.

doi:10.1016/j.rcim.2014.03.008

Cited by 40 publications

(18 citation statements)

References 13 publications

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“…(a) (b) An attempt has recently been made [28] to address the problem of a mobile in-situ repair system, but the SHeRo fails to display any evidence that its kinematic arrangement and structure is capable of producing the stiffness and precision motions required for highspeed machining operations, such as those performed by the FreeHex.…”

Section: Figure 1: Freehex Joint Layout In Machining Modementioning

confidence: 99%

A concept for actuating and controlling a leg of a novel walking parallel kinematic machine tool

et al. 2016

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Section: Figure 1: Freehex Joint Layout In Machining Modementioning

confidence: 99%

A concept for actuating and controlling a leg of a novel walking parallel kinematic machine tool

et al. 2016

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“…We separated U 1 into two revolute pairs, but the distance between the two revolute pairs was 0, i.e., d = 0 . The rotational angles of U 1 were defined as θ 1 …”

Section: Hierarchical Modelling Approachmentioning

confidence: 99%

Hierarchical Kinematic Modelling and Optimal Design of a Novel Hexapod Robot with Integrated Limb Mechanism

Xin

Deng

Zhong

et al. 2015

International Journal of Advanced Robotic Systems

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This paper presents a novel hexapod robot, hereafter named PH-Robot, with three degrees of freedom (3-DOF) parallel leg mechanisms based on the concept of an integrated limb mechanism (ILM) for the integration of legged locomotion and arm manipulation. The kinematic model plays an important role in the parametric optimal design and motion planning of robots. However, models of parallel mechanisms are often difficult to obtain because of the implicit relationship between the motions of actuated joints and the motion of a moving platform. In order to derive the kinematic equations of the proposed hexapod robot, an extended hierarchical kinematic modelling method is proposed. According to the kinematic model, the geometrical parameters of the leg are optimized utilizing a comprehensive objective function that considers both dexterity and payload. PH-Robot has distinct advantages in accuracy and load ability over a robot with serial leg mechanisms through the former's comparison of performance indices. The reachable workspace of the leg verifies its ability to walk and manipulate. The results of the trajectory tracking experiment demonstrate the correctness of the kinematic model of the hexapod robot.

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“…Different kinds of multi-legged robots are extensively investigated in the literature, since they have great importance in engineering applications [1]. In general, each legged robot can be considered as a mechatronic system with limbs connected to the main body (i.e., the robot's trunk).…”

Section: Introductionmentioning

confidence: 99%

On the Controlling of Multi-Legged Walking Robots on Stable and Unstable Ground

Grzelczyk¹,

Awrejcewicz²

2020

Dynamical Systems Theory

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In this chapter, we developed and investigated numerically a general kinematic model of a multi-legged hybrid robot equipped with a crab-like and/or mammallike legs. To drive the robot's limbs, a novel generator of gait was employed and tested. The simulation model developed in Mathematica is suitable for virtual study and visualization of the locomotion process. In contrast to our previous papers, in this study we focused especially on precise control of the position of the robot during walking in different directions. In our study we were able to simultaneously control all six spatial degrees of freedom of the robot's body, as well as all the robot's legs. Therefore, the investigated robot can be considered and used as a fully controlled walking Stewart platform. What is more, the used algorithm can also be successfully employed to coordinate and control all limbs of the robot on unstable or vibrating ground. As an example, it can be used to stabilize spatial position of the robot when the supporting ground becomes vibrating or unstable, and it will keep the robot stable and prevent it from falling over. Eventually, the developed simulation algorithms can be relatively simply adopted to control real constructions of different multi-legged robots.

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SHeRo: Scalable hexapod robot for maintenance, repair, and operations

Cited by 40 publications

References 13 publications

A concept for actuating and controlling a leg of a novel walking parallel kinematic machine tool

A concept for actuating and controlling a leg of a novel walking parallel kinematic machine tool

Hierarchical Kinematic Modelling and Optimal Design of a Novel Hexapod Robot with Integrated Limb Mechanism

On the Controlling of Multi-Legged Walking Robots on Stable and Unstable Ground

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