Lateral Stable Workspace of Hexapod Walking Machines With Constant Orientation Platform

Abstract

Due to the importance of the workspace and stability in mobile robot dynamic control, a variety of workspace and stability criteria exist in the field of multi-legged and wheeled robotics. This paper presents a methodology for determining the stable workspace, the subspace of the workspace for which the system is considered stable. The presented derivation utilizes the normal foot force distribution of the system to determine stability and integrates the stability into the lateral workspace of a mobile machining hexapod robot. The analytical inequalities governing the boundary of the stable workspace are derived. A discussion on the effects of physical and geometrical characteristics of the hexapod robot on the stable workspace methodology is given. The stable workspace methodology is validated through a simulation and an application to mobile machining is presented.

A geometric approach to solving the stable workspace of quadruped bionic robot with hand–foot-integrated function

“…Moreover, in many instances, the workspace and stability of robots were studied separately. The key research contribution on stable workspace came from Qu Long et al [5]. They solved the stable workspace of 2-RPR parallel mechanisms by integrating stability into the workspace problem, assuming that the robot maintained a constant-orientation workspace.…”

“…In some situations, the desired location was reachable but the robot was not stable. This made it important to determine the stable workspace, which was both reachable and stable for operation of the robot [5][6][7]. Typically, for a scalable hexapod robot (SHeRo), An analysis on the stability and workspace was presented and a dynamic criterion was developed to integrate the concepts of robot stability and constant orientation workspace into a stable workspace.…”