Legged robots are more maneuverable, and can negotiate rough terrain much better than conventional locomotion using wheels. However, since the kinematic or dynamic analysis of such robots involves closed chains, it is typically more difficult to investigate the impact of design changes, such as the number, or the design of its legs, to robot performance. Most legged robots consist of 4 legs (quadrupeds) or 6 legs (hexapods). This paper discusses the kinematic analysis of an unconventional, symmetrical 5-legged robot with 2-DOF (Degrees Of Freedom) universal joints in each leg. The analysis was carried out in order to predict the mobility of the upper body platform, and investigate the number of robot actuators needed for mobility. The product of exponentials formulation with respect to the local coordinate frames is used to describe the twists of the joints. The analysis is based on the idea that the robot body platform along with the legs can be considered instantaneously as a parallel robot manipulating the ground. Hence, the analysis can be done using the Jacobian formulation of parallel robots. Simulation results confirm the mobility analysis that the robot can have at most 3-DOF for the body and that these freedoms are coupled rotations and translations in 3D space also with a dependence on the configuration of the robot.
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ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 15–18, 2010
Montreal, Quebec, Canada
Conference Sponsors:
- Design Engineering Division and Computers in Engineering Division
ISBN:
978-0-7918-4410-6
PROCEEDINGS PAPER
Kinematic Analysis of a Five-Legged Mobile Robot
Muhammed R. Pac,
Muhammed R. Pac
The University of Texas at Arlington, Fort Worth, TX
Search for other works by this author on:
Dan O. Popa
Dan O. Popa
The University of Texas at Arlington, Fort Worth, TX
Search for other works by this author on:
Muhammed R. Pac
The University of Texas at Arlington, Fort Worth, TX
Dan O. Popa
The University of Texas at Arlington, Fort Worth, TX
Paper No:
DETC2010-28993, pp. 1427-1435; 9 pages
Published Online:
March 8, 2011
Citation
Pac, MR, & Popa, DO. "Kinematic Analysis of a Five-Legged Mobile Robot." Proceedings of the ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B. Montreal, Quebec, Canada. August 15–18, 2010. pp. 1427-1435. ASME. https://doi.org/10.1115/DETC2010-28993
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