KINEMATICS, DYNAMICS AND TRAJECTORY GENERATION OF A THREE-LEGGED CLIMBING ROBOT

Tarun Kumar Hazra, Nirmal Baran Hui

Abstract

In the present paper, an attempt has been made to design a three-legged climbing robot. Each leg of the robot has been considered to have two revolute joints controlled separately by two differential drive motors. Both forward and inverse kinematics analysis have been conducted. The problem of trajectory generation of each joint (both for swing phase and support) has been solved to suit the basic motion laws of Newton's. Dynamic analysis of each link of all the legs has been derived analytically using Lagrange-Euler formulation. Both kinematic and dynamic analysis models of the robot have been tested through computer simulations while the robot is following a straight line path. It is important to mention that the direction of movement of the robot has been considered in the opposite direction of the gravitational acceleration.

References

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Paper Citation


in Harvard Style

Kumar Hazra T. and Baran Hui N. (2011). KINEMATICS, DYNAMICS AND TRAJECTORY GENERATION OF A THREE-LEGGED CLIMBING ROBOT . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8425-74-4, pages 161-166. DOI: 10.5220/0003540701610166


in Bibtex Style

@conference{icinco11,
author={Tarun Kumar Hazra and Nirmal Baran Hui},
title={KINEMATICS, DYNAMICS AND TRAJECTORY GENERATION OF A THREE-LEGGED CLIMBING ROBOT},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2011},
pages={161-166},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003540701610166},
isbn={978-989-8425-74-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - KINEMATICS, DYNAMICS AND TRAJECTORY GENERATION OF A THREE-LEGGED CLIMBING ROBOT
SN - 978-989-8425-74-4
AU - Kumar Hazra T.
AU - Baran Hui N.
PY - 2011
SP - 161
EP - 166
DO - 10.5220/0003540701610166