Assisted standing and walking mode for Robug IV eight legged robot

Luckemeyer, Nils (2005) Assisted standing and walking mode for Robug IV eight legged robot. [USQ Project]

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Abstract

The aim of this project is to design and test an add-on spring support for the legs of
Robug IV. This mechanism will allow the robot to operate with the 6bar air supply
available at the University of Southern Queensland.
A model of a leg is developed and tested for its accuracy. It includes both kinematic
and kinetic aspects of the leg. Loop closure equations and an iterative method are used
for the kinematics. The kinetic equations are derived using the force balancing method.
The model is used to develop a good design solution for the spring mechanism and to
predict its behaviour when manufactured and assembled.

Statistics for this ePrint Item

Item Type:	USQ Project
Refereed:	No
Item Status:	Live Archive
Faculty/School / Institute/Centre:	Historic - Faculty of Engineering and Surveying - Department of Mechanical and Mechatronic Engineering (Up to 30 Jun 2013)
Date Deposited:	11 Oct 2007 00:24
Last Modified:	02 Jul 2013 22:32
Uncontrolled Keywords:	robot, legged robot, kinematics, kinetics
Fields of Research (2008):	09 Engineering > 0906 Electrical and Electronic Engineering > 090602 Control Systems, Robotics and Automation 09 Engineering > 0910 Manufacturing Engineering > 091007 Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)
Fields of Research (2020):	40 ENGINEERING > 4007 Control engineering, mechatronics and robotics > 400799 Control engineering, mechatronics and robotics not elsewhere classified 40 ENGINEERING > 4007 Control engineering, mechatronics and robotics > 400707 Manufacturing robotics
URI:	https://sear.unisq.edu.au/id/eprint/541

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