Mechanical Design and a Novel Structural Optimization Approach for Hexapod Walking Robots

Burkus, Ervin; Odry, Ákos; Awrejcewicz, Jan; Kecskés, István; Ódry, Péter

doi:10.3390/machines10060466

Cited by 6 publications

(3 citation statements)

References 35 publications

(60 reference statements)

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“…The original bionic model of a miniature walking robot was proposed in [14], where the drives for the six legs of the robot were minimized. Studies [15][16][17] consider the construction of bipedal walking robots both in the form of anthropomorphic structures, as well as in the form of six-legged Hexapods [18,19]. How-ever, in both cases, each leg joint of the robots is equipped with a separate drive (engine), which increases the energy costs from the autonomous power sources of the robots.…”

Section: Prerequisites and Means For Solving The Problemmentioning

confidence: 99%

Anthropomorphic walking robot: Design and simulation

Polishchuk¹,

Tkach²,

Stenin³

2022

FME Transactions

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The current stage of development of robotic systems is characterized by the use of anthropomorphic robot designs, the functions of which are as close as possible to human capabilities. This trend is explained by the need to give robots universal capabilities when performing various technological operations. The article proposes a fundamentally new design of a walking robot and describes a model of its functioning. This design allows the robot to move in an angular coordinate system, which is typical for humans. The main motivation for creating such a robot is to reduce the number of drives for the kinematic chain of the walking mechanism. The article presents the results of mathematical modeling and recommendations for the design of anthropomorphic walking mechanisms. The engineering formulas and diagrams presented in the article for calculating force loads make it possible to create various modifications of walking robots that have the property of adapting to an arbitrary surface topology for moving a mobile robot. The economic effect is achieved by reducing the number of electric motors for the robot's leg joints and, consequently, by reducing the total cost of the walking robot.

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Section: Prerequisites and Means For Solving The Problemmentioning

confidence: 99%

Anthropomorphic walking robot: Design and simulation

Polishchuk¹,

Tkach²,

Stenin³

2022

FME Transactions

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“…Among, the kinematic design mainly involves the determination of optimal geometric parameters [16]. Establishing performance indexes [17] is the first step of kinematic multi-objective optimization. Workspace and dexterity of the mechanism are mainly used as the kinematic performance optimization indexes so far [18,19].…”

Section: Introductionmentioning

confidence: 99%

Design and multi-objective optimization of a novel 5-DOF parallel mechanism with two double-driven chains

et al. 2023

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This paper focuses on the design, analysis, and multi-objective optimization of a novel 5-degrees of freedom (DOF) double-driven parallel mechanism. A novel 5-DOF parallel mechanism with two double-driven branch chains is proposed, which can serve as a machine tool. By installing two actuators on one branch chain, the proposed parallel mechanism can achieve 5-DOF of the moving platform with only three branch chains. Afterwards, analytical solution for inverse kinematics is derived. The 5 $\times$ 5 homogeneous Jacobian matrix is obtained by transforming actuator velocities into linear velocities at three points on the moving platform. Meanwhile, the workspace, dexterity, and volume are analyzed based on the kinematic model. Ultimately, a stage-by-stage Pareto optimization method is proposed to solve the multi-objective optimization problem of this parallel mechanism. The optimization results show that the workspace, compactness, and dexterity of this mechanism can be improved efficiently.

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“…In a similar approach, Wang et al [4] presented the hexapod robot dynamic model for the design of passive and active suspension models in the legs, considering the robot’s landing in the seabed. Burkus et al [5] developed the multibody model of a hexapod robot using Simscape and MATLAB to optimize its locomotion in terms of energy consumption, mass, and joints actuation. Deepa et al and Xue et al [6, 7] also studied the locomotion efficiency of a hexapod robot using the dynamic simulation software CoppeliaSim.…”

Section: Introductionmentioning

confidence: 99%

Development and implementation of a new approach for posture control of a hexapod robot to walk in irregular terrains

Coelho,

Dias,

Lopes

et al. 2023

Robotica

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The adaptability of hexapods for various locomotion tasks, especially in rescue and exploration missions, drives their application. Unlike controlled environments, these robots need to navigate ever-changing terrains, where ground irregularities impact foothold positions and origin shifts in contact forces. This dynamic interaction leads to varying hexapod postures, affecting overall system stability. This study introduces a posture control approach that adjusts the hexapod’s main body orientation and height based on terrain topology. The strategy estimates ground slope using limb positions, thereby calculating novel limb trajectories to modify the hexapod’s angular position. Adjusting the hexapod’s height, based on the calculated slope, further enhances main body stability. The proposed methodology is implemented and evaluated on the ATHENA hexapod (All-Terrain Hexapod for Environment Adaptability). Control feasibility is assessed through dynamic analysis of the hexapod’s multibody model on irregular surfaces, using computational simulations in Gazebo software. Environmental complexity’s impact on hexapod stability is tested on both a ramp and uneven terrain. Independent analyses for each scenario evaluate the controller’s effect on roll and pitch angular velocities, as well as height variations. Results demonstrate the strategy’s suitability for both environments, significantly enhancing posture stability.

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Mechanical Design and a Novel Structural Optimization Approach for Hexapod Walking Robots

Cited by 6 publications

References 35 publications

Anthropomorphic walking robot: Design and simulation

Anthropomorphic walking robot: Design and simulation

Design and multi-objective optimization of a novel 5-DOF parallel mechanism with two double-driven chains

Development and implementation of a new approach for posture control of a hexapod robot to walk in irregular terrains

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