This work reports the result of the accurate dynamic modelling and simulation of a working hexapod robot with the aim to optimize mechanics, stresses, load placement for the final realization of a fully autonomous prototype. Gregor I, the robot presented in this paper takes inspiration from cockroach experimental observations, concerning the mechanical design and the locomotion control strategy. This paper reports the design phase defined through solid modelling and improved through kinematics and dynamic studies, using a multi-body software. The dynamic simulation environment allows the study of the system performance under different working conditions. From the analysis performed the guidelines for an optimization process of the hexapod structure are drawn in order to improve specific characteristics: speed, payload and climbing capabilities. Moreover a comparison between the robot model and the robot prototype is also given.

A cockroach-inspired hexapod robot: performance enhancement through dynamic simulation

ARENA, Paolo Pietro;CALI', MICHELE;FORTUNA, Luigi;OLIVERI, Salvatore;SEQUENZIA G.
2006-01-01

Abstract

This work reports the result of the accurate dynamic modelling and simulation of a working hexapod robot with the aim to optimize mechanics, stresses, load placement for the final realization of a fully autonomous prototype. Gregor I, the robot presented in this paper takes inspiration from cockroach experimental observations, concerning the mechanical design and the locomotion control strategy. This paper reports the design phase defined through solid modelling and improved through kinematics and dynamic studies, using a multi-body software. The dynamic simulation environment allows the study of the system performance under different working conditions. From the analysis performed the guidelines for an optimization process of the hexapod structure are drawn in order to improve specific characteristics: speed, payload and climbing capabilities. Moreover a comparison between the robot model and the robot prototype is also given.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.11769/82416
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