Analysis on the Walking Volumes of a Hexapod System with General 3R Link Legs

일반적 3R 링크를 갖는 6각 보행로봇 다리의 보행체적에 대한 해석

  • Han, Gyu-Beom (Dept.of Mechanical Engineering, Graduate School of Yonsei University) ;
  • Yang, Chang-Il (Dept.of Mechanical Engineering, Graduate School of Yonsei University) ;
  • Baek, Yun-Su (Yonsei University)
  • 한규범 (연세대학교 대학원 기계공학과) ;
  • 양창일 (연세대학교 대학원 기계공학과) ;
  • 백윤수 (연세대학교 기계설계학과)
  • Published : 1996.07.01


In order to move the body of a walking robot translationally, and step over the obstacles, the walking robot must have at least 3 degrees of freedom for each leg. Therefore each leg of the general walking robots can be composed of 3-link system with 3 revolute joints. In this paper, the colsed form of inverse kinimatic solutions is shown for this general 3R linkage. Moreover, in order to have efficient walking volume in rough terrain, the workspace of each log is obtained considering the twist angles and the offsets in D-H parameters. When we design a walking robot, the information of the walking volume is needed for planning desired trajectories of the feet effectively. Appropriate knowledge of the walking volume can also be used to maximize linear or angular velocity of minimize power of stress. However, since it is impossible to obrain the information of walking volume in 3-D space directly from the kinematic equations, the walking volume can be searched through the edge detection algorithm using the triangle tracer with closed from inverse kinematic solutions. In this study, we present the closed form inverse kinematic solutions for 3R linkage model, and the walking volume of 6 legged walking robot which is modeled after the darking bettle, Eleodes obscura sulcipennis, through the method of edge detection for an arbitrary 2 dimensional shape using triangle tracer.