Analysis of Six-Legged Walking Robots

Abstract

In the present paper, an attempt has been made to carryout kinematic and dynamic examination of a six-legged robot. A three-revolute (3R) kinematic chain has been chosen for each leg instrument with a particular ultimate objective to imitate the leg structure of a bug. Denavit–Hartenberg (D-H) conventions are used to perform kinematic examination of the six-legged robot. The prompt and invert kinematic examination for each leg has been considered remembering the ultimate objective to develop a general kinematic model of a six-legged robot, when it takes after a straight way. The issues related to heading time of legs have been settled for both the swing and support times of the robot. Specify that heading period issue in the midst of the support organize has been nitty gritty as a change issue and comprehended using the base squared method. Lagrange-Euler arrange has been utilized to choose the joint torques. The made kinematic and element models have been examined for tripod step time of the six-legged robot