Abstract
A kinematic model of the leg is established and the workspace of the foot is analyzed based on the walking leg designed for a hydraulically actuated hexapod robot. The performance testing system of the leg is established, the hardware of the controller of the testing system is designed, and the software for motion testing is developed. Experimental results show that the movement tracking error of single joint and the coordinate motion tracking error of joints are less than one degree. Dynamic characteristics of the joint meet that amplitude attenuation is less than -3 dB when the frequency is 0.5 Hz. It is verified that the performance of the waling leg meets the motion requirements of the hexapod robot.
| Original language | English |
|---|---|
| Pages (from-to) | 1512-1518 |
| Number of pages | 7 |
| Journal | Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) |
| Volume | 45 |
| Issue number | 5 |
| DOIs | |
| State | Published - 1 Sep 2015 |
Keywords
- Automatic control technology
- Hexapod robot
- Hydraulic actuation
- Performance testing
- Walking leg
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