Kinematics, Dynamics, and Optimal Control of Pneumatic Hexapod Robot
Joint Authors
Bai, Long
Ma, Lu-han
Dong, Zhifeng
Ge, Xinsheng
Source
Mathematical Problems in Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-03-09
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
Pneumatic hexapod robot is driven by inert gas carried by itself, which has board application prospect in rescue operation of disaster conditions containing flammable gas.
Cruising ability is main constraint for practical engineering application which is influenced by kinematics and dynamics character.
The matrix operators and pseudospectral method are used to solve dynamics modeling and numerical calculation problem of robot under straight line walking.
Kinematics model is numerically solved and relationship of body, joints, and drive cylinders is obtained.
With dynamics model and kinematics boundary conditions, the optimal input gas pressure of leg swing and body moving in one step is obtained by pseudospectral method.
According to action character of magnetic valve, calculation results of control inputs satisfy engineering design requirements, and cruising ability under finite gas is obtained.
American Psychological Association (APA)
Bai, Long& Ma, Lu-han& Dong, Zhifeng& Ge, Xinsheng. 2017. Kinematics, Dynamics, and Optimal Control of Pneumatic Hexapod Robot. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-16.
https://search.emarefa.net/detail/BIM-1191536
Modern Language Association (MLA)
Bai, Long…[et al.]. Kinematics, Dynamics, and Optimal Control of Pneumatic Hexapod Robot. Mathematical Problems in Engineering No. 2017 (2017), pp.1-16.
https://search.emarefa.net/detail/BIM-1191536
American Medical Association (AMA)
Bai, Long& Ma, Lu-han& Dong, Zhifeng& Ge, Xinsheng. Kinematics, Dynamics, and Optimal Control of Pneumatic Hexapod Robot. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-16.
https://search.emarefa.net/detail/BIM-1191536
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1191536