A total torque index for dynamic performance evaluation of a radial symmetric six-legged robot

作     者：Kejia LI Xilun DING Marco CECCARELL 

作者机构：Robotics Institute School of Mechanical Engineering and AutomationBeijing University of Aeronautics and Astronautics Beijing 100191China Laboratory of Robotics and Mechatronics University of Cassino 03043Cassino Italy 

出 版 物：《机械工程前沿》 (Frontiers of Mechanical Engineering)

年 卷 期：2012年第7卷第2期

页      面：219-230页

核心收录：

学科分类：08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程] 

基　　金：the National Outstanding Youth Science Foundation(51125020) 

主　　题：six-legged robots dynamic modeling performance index 

摘      要：This article focuses on the dynamic index and performance of a radial symmetric six-legged *** first the structure of the robot is described in brief and its inverse kinematics is *** the dynamic model is formulated as based on the Lagrange equations.A novel index of total torque is proposed by considering the posture of the supporting *** new index can be used to optimize the leg s structure and operation for consuming minimum power and avoiding unstable postures of the robot.A characterization of the proposed six-legged robot is obtained by a parametric analysis of robot performance through simulation using the presented dynamic *** influences are outlined as well as the usefulness of the proposed performance index.