Mechanism design and workspace analysis of a hexapod robot
Mobile robots are essential for inspection, surveillance, and disaster relief. The legged robot
can adapt to challenging terrains such as stairs and debris. The hexapod robot has better …
can adapt to challenging terrains such as stairs and debris. The hexapod robot has better …
Dynamics investigation of spatial parallel mechanism considering rod flexibility and spherical joint clearance
The dynamic model of 4-SPS/PS parallel mechanism with a flexible actuated rod and
clearance spherical joint is established based on the equation of motion. Firstly, the flexible …
clearance spherical joint is established based on the equation of motion. Firstly, the flexible …
Design and analysis of a novel walking vehicle based on leg mechanism with variable topologies
J Wu, Y Yao - Mechanism and Machine Theory, 2018 - Elsevier
In order to improve the adaptability of one-degree-of-freedom leg mechanism to unknown
terrains while maintaining its control simplicity, energy efficiency and integral rigidity, a novel …
terrains while maintaining its control simplicity, energy efficiency and integral rigidity, a novel …
Type synthesis of a class of novel 3-DOF single-loop parallel leg mechanisms for walking robots
This paper presents a class of novel 3-degree-of-freedom (DOF) single-loop parallel leg
mechanisms for walking robots. An approach for constructing the 3-DOF single-loop parallel …
mechanisms for walking robots. An approach for constructing the 3-DOF single-loop parallel …
Novel method for preventing shin-collisions in six-legged robots by utilising a robot–terrain interference model
L Mao, F Gao, Y Tian, Y Zhao - Mechanism and Machine Theory, 2020 - Elsevier
Solving the problem of interference and adaptive locomotion is crucial to the success of
urban rescue missions that use legged robots. However, previous studies have mainly …
urban rescue missions that use legged robots. However, previous studies have mainly …
Type synthesis of a family of novel parallel leg mechanisms driven by a 3-DOF drive system
The complex structures, small workspaces and complex control systems of traditional
parallel mechanisms are the largest hurdles to using them as leg mechanisms in walking …
parallel mechanisms are the largest hurdles to using them as leg mechanisms in walking …
Velocity index and wading height based design method of trajectory parameters for a coupled parallelogram legged walking robot
This paper proposes a novel design method for trajectory parameters based on the velocity
index and wading height, which is implemented on a six-legged robot with a coupled …
index and wading height, which is implemented on a six-legged robot with a coupled …
Stiffness analysis of a metamorphic parallel mechanism with three configurations
H Tian, H Ma, J Xia, K Ma, Z Li - Mechanism and Machine Theory, 2019 - Elsevier
Compared with series mechanisms, a parallel mechanism has the merits of high stiffness,
fast response, and centralised layout of electric cylinders, which is more suitable for the …
fast response, and centralised layout of electric cylinders, which is more suitable for the …
Reconfigurable design of a passive locomotion closed-chain multi-legged platform for terrain adaptability
C Wei, J Wu, J Sun, H Sun, Y Yao, Q Ruan - Mechanism and Machine …, 2022 - Elsevier
In order to enhance the adaptability of closed-chain multi-legged platform to uneven terrain,
a reconfigurable passive locomotion closed-chain platform (RPCP) is proposed. On the …
a reconfigurable passive locomotion closed-chain platform (RPCP) is proposed. On the …
Design and analysis of a sixteen-legged vehicle with reconfigurable close-chain leg mechanisms
J Wu, Y Yao, Y Li, S Wang… - Journal of …, 2019 - asmedigitalcollection.asme.org
In order to exert the advantages of simplified control and integral rigidity, a novel 16-legged
walking vehicle is proposed as a carrying platform based on closed-chain mechanisms …
walking vehicle is proposed as a carrying platform based on closed-chain mechanisms …