Analysis of Low Energy Static Posture for Hexapod Bionic Robot

DOI

10.2991/eame-17.2017.75How to use a DOI?

Keywords

low energy; hexapod bionic robot; static analysis; joint torque; optimization simulation

Abstract

According to the workload requirements of multi-legged robots, the standing posture of hexapod bionic robot based on static analysis is proposed in this paper, which aims to reduce the energy consumption. We chose the picnic insects with low speed as the bionic prototype and build the robot model, Through the statics analysis we get the low energy static posture when the output torque of the robot is smallest. On this basis, a multi-objective optimization method based on energy consumption and space flexibility is proposed. Finally, we design the simulation and prototype test on self-developed hexapod robot, the results show that the standing posture proposed in this paper satisfies the requirements of energy consumption and space flexibility.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Lei Zhang
AU  - Fang Yang
AU  - Dedong Li
AU  - Juncheng Guo
AU  - Cechong Liu
PY  - 2017/04
DA  - 2017/04
TI  - Analysis of Low Energy Static Posture for Hexapod Bionic Robot
BT  - Proceedings of the 2017 2nd International Conference on Electrical, Automation and Mechanical Engineering (EAME 2017)
PB  - Atlantis Press
SP  - 317
EP  - 320
SN  - 2352-5401
UR  - https://doi.org/10.2991/eame-17.2017.75
DO  - 10.2991/eame-17.2017.75
ID  - Zhang2017/04
ER  -