Abstract
Aiming at the manipulation problem of a hexapod robot with backbone joint, this paper studies the related problems of its two-arm mode. In this mode, the four middle and rear legs are used for support, and the backbone joint and two front legs are used for manipulation. For precise control in the actual scene, the composite motion of the backbone joint and the front legs is first simplified based on the D-H method, and the D-H parameters are obtained. The forward and inverse solutions of its kinematics are derived. Then its workspace is drawn using the Monte Carlo method. Then, the variation range of the centroid of the hexapod robot in this working mode is analyzed. And the requirements for stable work of the robot on flat ground are given. Finally, the correctness of the results and the superiority of the working mode are verified by designing a task scenario and conducting a real machine test.
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Acknowledgements
This research was funded by National Natural Science Foundation of China (No. 61603020, No. 61620106012), the Fundamental Research Funds for the Central Universities (No. YWF-21-BJ-J-923), and the Foundation of Strengthening Program Technology Fund Projects (No. 2019-JCJQ-JJ-268).
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Xu, Q., Zhang, J., Lyu, Z., Zhou, Q., Yue, H., Chen, W. (2023). Kinematics and Stability Analysis of a Hexapod Robot with Backbone Joint. In: Yan, L., Duan, H., Deng, Y. (eds) Advances in Guidance, Navigation and Control. ICGNC 2022. Lecture Notes in Electrical Engineering, vol 845. Springer, Singapore. https://doi.org/10.1007/978-981-19-6613-2_205
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DOI: https://doi.org/10.1007/978-981-19-6613-2_205
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