Kinematics and dynamics study of a hexapod robotic system using computational packages’ capabilities

Detalhes bibliográficos
Autor(a) principal: Flores, Paulo
Data de Publicação: 2007
Outros Autores: Claro, José Carlos Pimenta, Ribeiro, A. Fernando
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/1822/10236
Resumo: The main purpose of this work was to perform kinematics and dynamics analysis of a prototype of an autonomous hexapod robot. This paper reports on an initial phase, where the basic geometry of the system was specified and improved through a kinematics and dynamic study by using a motion analysis software. This study also allowed the design of all mechanical components and the definition of motion generation needs. In this paper the importance of legged robots on mobile research is emphasised. The capabilities of the computational programs specially dedicated to the analysis of mechanical systems are also discussed. The mobility of the geometric model presented in this paper is a trade-off between natural idea and technical feasibility. Some results of the computational simulations of the movement of the proposed hexapod robotic system are presented and discussed under the premises and assumptions adopted in this work.
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spelling Kinematics and dynamics study of a hexapod robotic system using computational packages’ capabilitiesKinematicsHexapodRobotSimulationThe main purpose of this work was to perform kinematics and dynamics analysis of a prototype of an autonomous hexapod robot. This paper reports on an initial phase, where the basic geometry of the system was specified and improved through a kinematics and dynamic study by using a motion analysis software. This study also allowed the design of all mechanical components and the definition of motion generation needs. In this paper the importance of legged robots on mobile research is emphasised. The capabilities of the computational programs specially dedicated to the analysis of mechanical systems are also discussed. The mobility of the geometric model presented in this paper is a trade-off between natural idea and technical feasibility. Some results of the computational simulations of the movement of the proposed hexapod robotic system are presented and discussed under the premises and assumptions adopted in this work.PublindústriaUniversidade do MinhoFlores, PauloClaro, José Carlos PimentaRibeiro, A. Fernando20072007-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/1822/10236eng"Robótica." ISSN 0874-9019. 66 (2007) 10-15.0874-9019info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-07-21T12:22:16Zoai:repositorium.sdum.uminho.pt:1822/10236Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T19:15:43.451699Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Kinematics and dynamics study of a hexapod robotic system using computational packages’ capabilities
title Kinematics and dynamics study of a hexapod robotic system using computational packages’ capabilities
spellingShingle Kinematics and dynamics study of a hexapod robotic system using computational packages’ capabilities
Flores, Paulo
Kinematics
Hexapod
Robot
Simulation
title_short Kinematics and dynamics study of a hexapod robotic system using computational packages’ capabilities
title_full Kinematics and dynamics study of a hexapod robotic system using computational packages’ capabilities
title_fullStr Kinematics and dynamics study of a hexapod robotic system using computational packages’ capabilities
title_full_unstemmed Kinematics and dynamics study of a hexapod robotic system using computational packages’ capabilities
title_sort Kinematics and dynamics study of a hexapod robotic system using computational packages’ capabilities
author Flores, Paulo
author_facet Flores, Paulo
Claro, José Carlos Pimenta
Ribeiro, A. Fernando
author_role author
author2 Claro, José Carlos Pimenta
Ribeiro, A. Fernando
author2_role author
author
dc.contributor.none.fl_str_mv Universidade do Minho
dc.contributor.author.fl_str_mv Flores, Paulo
Claro, José Carlos Pimenta
Ribeiro, A. Fernando
dc.subject.por.fl_str_mv Kinematics
Hexapod
Robot
Simulation
topic Kinematics
Hexapod
Robot
Simulation
description The main purpose of this work was to perform kinematics and dynamics analysis of a prototype of an autonomous hexapod robot. This paper reports on an initial phase, where the basic geometry of the system was specified and improved through a kinematics and dynamic study by using a motion analysis software. This study also allowed the design of all mechanical components and the definition of motion generation needs. In this paper the importance of legged robots on mobile research is emphasised. The capabilities of the computational programs specially dedicated to the analysis of mechanical systems are also discussed. The mobility of the geometric model presented in this paper is a trade-off between natural idea and technical feasibility. Some results of the computational simulations of the movement of the proposed hexapod robotic system are presented and discussed under the premises and assumptions adopted in this work.
publishDate 2007
dc.date.none.fl_str_mv 2007
2007-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/1822/10236
url http://hdl.handle.net/1822/10236
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv "Robótica." ISSN 0874-9019. 66 (2007) 10-15.
0874-9019
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Publindústria
publisher.none.fl_str_mv Publindústria
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
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reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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