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Multi-legged walking machine body design

Published online by Cambridge University Press:  01 November 1997

S.J. Zhang ,
D. Howard ,
D.J. Sanger  and
S. Miao
S.J. Zhang
Affiliation:
Machines, Kinematics and Robotics Group, Research Institute for Design, Manufacture and Marketing, University of Salford, Salford M5 4WT, UK
D. Howard
Affiliation:
Machines, Kinematics and Robotics Group, Research Institute for Design, Manufacture and Marketing, University of Salford, Salford M5 4WT, UK
D.J. Sanger
Affiliation:
Machines, Kinematics and Robotics Group, Research Institute for Design, Manufacture and Marketing, University of Salford, Salford M5 4WT, UK
S. Miao
Affiliation:
Machines, Kinematics and Robotics Group, Research Institute for Design, Manufacture and Marketing, University of Salford, Salford M5 4WT, UK
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Abstract

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The effects of body geometry on walking machine performance have been investigated, and a body design procedure proposed. The relationships between static workspace, body-geometry and installed joint torques have been derived. A body design procedure that uses this data is then described, and two design examples discussed. The procedure results in a body geometry which minimises the installed joint torques, and hence the machine weight, for the desired workspace area.

Keywords

Walking machineMulti-leggedBody designStatic workplace
Type
Research Article
Information
Robotica , Volume 15 , Issue 6 , November 1997 , pp. 593 - 598
Copyright
© 1997 Cambridge University Press