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Kinematic design of crab-like legged vehicles

Published online by Cambridge University Press:  12 January 2001

Anmin Liu  and
David Howard
Anmin Liu
Affiliation:
Aeronautical & Mechanical Engineering, University of Salford, Salford M5 4WT (UK)
David Howard
Affiliation:
Aeronautical & Mechanical Engineering, University of Salford, Salford M5 4WT (UK)
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Abstract

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In this paper, the kinematic workspace characteristics of a crab-like legged vehicle are investigated using a 2-D model. The alternative kinematic configurations and their corresponding workspace constraints are discussed, and the vehicle configuration of most interest identified. It is shown that, for constant vehicle body attitude, only two parameters affect the kinematic workspace, foot overlap and thigh length. Analytical methods for calculating the workspace characteristics are presented and, using these methods, the effects of the design geometry on the kinematic workspace are investigated.

Keywords

Kinematic designCrab-like legged vehicle2-D model
Type
Research Article
Information
Robotica , Volume 19 , Issue 1 , January 2001 , pp. 67 - 77
Copyright
© 2001 Cambridge University Press