Modeling and Analysis of a Modular Multilegged Robot with Improved Fault Tolerance and Environmental Adaptability
Multilegged robots can adapt to complex terrains, an ability that is highly important for their research and development. To improve the adaptability and fault tolerance of such robots, the modular design concept is applied by an increase in the number of modules. A modular multilegged robot contain...
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2019-01-01
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Series: | Mathematical Problems in Engineering |
Online Access: | http://dx.doi.org/10.1155/2019/8261617 |
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doaj-bc653b5b379e44ba97887074225c031e2020-11-25T03:04:38ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472019-01-01201910.1155/2019/82616178261617Modeling and Analysis of a Modular Multilegged Robot with Improved Fault Tolerance and Environmental AdaptabilityMeng Ning0Lei Shao1FangJian Chen2Mingxing Li3Chunyu Zhang4Qiuju Zhang5School of Mechanical Engineering, Jiangnan University, Wuxi, 214122, ChinaSchool of Mechanical Engineering, Jiangnan University, Wuxi, 214122, ChinaSchool of Mechanical Engineering, Jiangnan University, Wuxi, 214122, ChinaSchool of Mechanical Engineering, Jiangnan University, Wuxi, 214122, ChinaSchool of Mechanical Engineering, Jiangnan University, Wuxi, 214122, ChinaSchool of Mechanical Engineering, Jiangnan University, Wuxi, 214122, ChinaMultilegged robots can adapt to complex terrains, an ability that is highly important for their research and development. To improve the adaptability and fault tolerance of such robots, the modular design concept is applied by an increase in the number of modules. A modular multilegged robot contains a trunk with six modular leg structures that can be removed at will. The interface design of the trunk and legs can achieve good tightness and high strength, thereby ensuring quick disassembly and that the trunk and legs will not fall off while the robot walks. On this basis, the gait of a robot with different numbers of modular legs is designed. Then, kinematic and dynamic models of the robots with different gaits are established, and the motion performance, which provides reference for motion control and motor selection, is analyzed. Experiments show that the robot with different numbers of legs has good motion performance. This study serves as a useful reference for the design of modular multilegged robots.http://dx.doi.org/10.1155/2019/8261617 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Meng Ning Lei Shao FangJian Chen Mingxing Li Chunyu Zhang Qiuju Zhang |
spellingShingle |
Meng Ning Lei Shao FangJian Chen Mingxing Li Chunyu Zhang Qiuju Zhang Modeling and Analysis of a Modular Multilegged Robot with Improved Fault Tolerance and Environmental Adaptability Mathematical Problems in Engineering |
author_facet |
Meng Ning Lei Shao FangJian Chen Mingxing Li Chunyu Zhang Qiuju Zhang |
author_sort |
Meng Ning |
title |
Modeling and Analysis of a Modular Multilegged Robot with Improved Fault Tolerance and Environmental Adaptability |
title_short |
Modeling and Analysis of a Modular Multilegged Robot with Improved Fault Tolerance and Environmental Adaptability |
title_full |
Modeling and Analysis of a Modular Multilegged Robot with Improved Fault Tolerance and Environmental Adaptability |
title_fullStr |
Modeling and Analysis of a Modular Multilegged Robot with Improved Fault Tolerance and Environmental Adaptability |
title_full_unstemmed |
Modeling and Analysis of a Modular Multilegged Robot with Improved Fault Tolerance and Environmental Adaptability |
title_sort |
modeling and analysis of a modular multilegged robot with improved fault tolerance and environmental adaptability |
publisher |
Hindawi Limited |
series |
Mathematical Problems in Engineering |
issn |
1024-123X 1563-5147 |
publishDate |
2019-01-01 |
description |
Multilegged robots can adapt to complex terrains, an ability that is highly important for their research and development. To improve the adaptability and fault tolerance of such robots, the modular design concept is applied by an increase in the number of modules. A modular multilegged robot contains a trunk with six modular leg structures that can be removed at will. The interface design of the trunk and legs can achieve good tightness and high strength, thereby ensuring quick disassembly and that the trunk and legs will not fall off while the robot walks. On this basis, the gait of a robot with different numbers of modular legs is designed. Then, kinematic and dynamic models of the robots with different gaits are established, and the motion performance, which provides reference for motion control and motor selection, is analyzed. Experiments show that the robot with different numbers of legs has good motion performance. This study serves as a useful reference for the design of modular multilegged robots. |
url |
http://dx.doi.org/10.1155/2019/8261617 |
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