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Multi-legged walking machine body design

Published online by Cambridge University Press:  01 November 1997

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

Abstract

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.

Type
Research Article
Copyright
© 1997 Cambridge University Press

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