Research on The Leg Workspace of A Modular Multi-legged Robot
In order to enable the robot to adapt the complex working environment,a new modular reconfigurable multi-legged robot is proposed,in which its six legs are evenly distributed on the six faces of the regular hexagonal body.The robot has the function of arm-leg conversion,and the legs can be converted into mechanical arms when the robot per-forms tasks.Firstly,based on the Denavit-Hartenberg(D-H)method,the mathematical model of the robot's legs was established and the kinematic analysis was carried out.Then,the Monte Carlo method was used to solve the leg working space of the robot,which provided a reference for the subsequent motion control and task execution of the robot.
Multi-legged robotsReconfigurableWorkspacesMonte Carlo method
万方数据
维普
