Modeling and Analysis of a Modular Multilegged Robot with Improved Fault Tolerance and Environmental Adaptability
Joint Authors
Zhang, Qiuju
Ning, Meng
Shao, Lei
Chen, FangJian
Li, Mingxing
Zhang, Chunyu
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-17, 17 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-05-14
Country of Publication
Egypt
No. of Pages
17
Main Subjects
Abstract EN
Multilegged robots can adapt to complex terrains, an ability that is highly important for their research and development.
To improve the adaptability and fault tolerance of such robots, the modular design concept is applied by an increase in the number of modules.
A modular multilegged robot contains a trunk with six modular leg structures that can be removed at will.
The interface design of the trunk and legs can achieve good tightness and high strength, thereby ensuring quick disassembly and that the trunk and legs will not fall off while the robot walks.
On this basis, the gait of a robot with different numbers of modular legs is designed.
Then, kinematic and dynamic models of the robots with different gaits are established, and the motion performance, which provides reference for motion control and motor selection, is analyzed.
Experiments show that the robot with different numbers of legs has good motion performance.
This study serves as a useful reference for the design of modular multilegged robots.
American Psychological Association (APA)
Ning, Meng& Shao, Lei& Chen, FangJian& Li, Mingxing& Zhang, Chunyu& Zhang, Qiuju. 2019. Modeling and Analysis of a Modular Multilegged Robot with Improved Fault Tolerance and Environmental Adaptability. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-17.
https://search.emarefa.net/detail/BIM-1197495
Modern Language Association (MLA)
Ning, Meng…[et al.]. Modeling and Analysis of a Modular Multilegged Robot with Improved Fault Tolerance and Environmental Adaptability. Mathematical Problems in Engineering No. 2019 (2019), pp.1-17.
https://search.emarefa.net/detail/BIM-1197495
American Medical Association (AMA)
Ning, Meng& Shao, Lei& Chen, FangJian& Li, Mingxing& Zhang, Chunyu& Zhang, Qiuju. Modeling and Analysis of a Modular Multilegged Robot with Improved Fault Tolerance and Environmental Adaptability. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-17.
https://search.emarefa.net/detail/BIM-1197495
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1197495