Design of six-legged walking robot, Little Crabster for underwater walking and operation
Design of six-legged walking robot, Little Crabster for underwater walking and operation
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DOI：
10.1080/01691864.2013.856832
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发表时间：
2014-01
影响因子：
2
通讯作者：
Jung-Yup Kim;B. Jun
中科院分区：
文献类型：
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作者：
Jung-Yup Kim;B. Jun
本文介绍了一种地面试验机器人平台的研制，以研究一种能够在强潮环境下在浅海进行精确近距离探测和作业的多足步行机器人。针对水下行走和复杂作业，提出了一种水下作业中使用两条腿作为机械手的六足机器人。通过考虑生物数据确定机器人的尺寸、关节结构、运动范围和质量分布，然后通过简单的受力分析选择合适的关节执行器。此外，还选择了主控制器、通信总线、电机控制器、传感器和电池来构建整个控制系统。使用2D/3D计算机辅助设计(CAD)软件进行详细设计，并通过零件的加工和装配最终建立机器人。通过基本的步行实验验证了设计的完备性，并对下一步工作进行了展望。图形摘要
This paper describes the development of a ground test robot platform to study a multi-legged walking robot capable of precise proximity exploration and operations under a shallow sea in the presence of a strong tidal current environment. For both underwater walking and complex operations, a six-legged robot that uses two legs as manipulators during underwater operations is proposed. The dimensions, joint structure, range of motion, and mass distribution of the robot are determined by considering biological data, and then suitable joint actuators are chosen through a simple force analysis. In addition, a main controller, a communication bus, motor controllers, sensors, and a battery are chosen to build the whole control system. The detailed design is performed using 2D/3D computer aided design (CAD) software, and the robot is finally built by machining the parts and assembling them. The degree of design completion is proved by basic walking experiments and future works are addressed. Graphical Abstract