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- W4225385500 endingPage "104917" @default.
- W4225385500 startingPage "104917" @default.
- W4225385500 abstract "Mobile robots are essential for inspection, surveillance, and disaster relief. The legged robot can adapt to challenging terrains such as stairs and debris. The hexapod robot has better stability, payload capability, and fault-tolerant ability than the biped and quadruped robot. This paper proposes a novel hexapod robot composed of two walking platforms and an actively actuated waist joint. The mechanical topology of the robot is determined by comprehensively considering the walking stability, energy consumption, and operating dexterity. The modular leg mechanism is selected by analyzing the reachable workspaces of three typical 2-DOF parallel leg mechanisms. Besides, the analytical method of calculating the reachable workspace of the robot body with shank-ground interferences is studied for the first time, which helps to enhance the efficiency of foothold selection. The feasibility of integrating the analytical workspace in obstacle-surmounting is verified by climbing a 45-degree staircase. Simulations including avoiding obstacles, spot turning, and climbing a staircase are carried out to verify the correctness of the theoretical analysis. A robot prototype is fabricated, and the field experiments corroborate the results of the computational simulations." @default.
- W4225385500 created "2022-05-05" @default.
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- W4225385500 date "2022-08-01" @default.
- W4225385500 modified "2023-10-14" @default.
- W4225385500 title "Mechanism design and workspace analysis of a hexapod robot" @default.
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- W4225385500 doi "https://doi.org/10.1016/j.mechmachtheory.2022.104917" @default.
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