The Inverse Kinematic Solving of the Biomimetic Hexapod Robot

سال انتشار: 1394
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 665

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شناسه ملی سند علمی:

DCEAEM02_299

تاریخ نمایه سازی: 30 بهمن 1394

چکیده مقاله:

The The aim of this project is to design and implementation the hexapod robot that inspired by nature of insects that has the necessary capabilities for different operations in different environment. The robot has been tried to overcome some deficiencies which have been observed in previous works, and the robot has had special advantages. The necessity of this project is to develop a simple system with the ability to perform various tasks. Simple yet high performance systems, is the main goal of the project. As well as energy efficiency and increase the working duration of the robot is the side objective of this project. First, the importance of nature inspired hexapod robots was explained. Then the kinetic and kinematic equation of the robots leg was solved. Next, the prototype of hexapod robot was designed and fabricated. Finally, the robot was tested in the environment and the result of test was registered.

نویسندگان

Mohammad Hossein Salimi

Department of mechanical engineering, KNTU University of Technology, Tehran, Iran

Majid Roshanfar

Department of mechanical engineering, KNTU University of Technology, Tehran, Iran