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Dimensional Design and Analysis of a Single Leg with Arthropod Joint Configurations for Heavy-duty Hexapod Robot
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Dimensional Design and Analysis of a Single Leg with Arthropod Joint Configurations for Heavy-duty Hexapod Robot
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Journal Article
Dimensional Design and Analysis of a Single Leg with Arthropod Joint Configurations for Heavy-duty Hexapod Robot
2025
Overview
This study presents the kinematic and dynamic modeling of an individual leg in a hexapod robot, along with simulation analysis. First, a kinematic model for the single leg is constructed based on the Denavit-Hartenberg (D-H) notation. The forward kinematic solution is derived, and the Jacobian matrix is employed to analyze the relationship between foot tip velocity and joint angular velocity. Subsequently, a dynamic model for the single leg is developed using the Lagrange method, and the torques at the hip and knee joints are calculated. Simulations are executed with the purpose of validate the correctness of the kinematic model and analyze the trends in foot tip velocity and joint torque. These results serve as a theoretical underpinning for improving the robot’s design and control techniques.
Publisher
IOP Publishing
