Luckemeyer, Nils (2005) Assisted standing and walking mode for Robug IV eight legged robot. [USQ Project] (Unpublished)
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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.
| Item Type: | USQ Project |
|---|---|
| Uncontrolled Keywords: | robot, legged robot, kinematics, kinetics |
| Fields of Research (FOR2008): | 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) |
| Subjects: | 290000 Engineering and Technology > 290300 Manufacturing Engineering > 290301 Robotics and Mechatronics |
| Socio-Economic Objective (SEO2008): | UNSPECIFIED |
| ID Code: | 541 |
| Deposited By: | |
| Deposited On: | 11 Oct 2007 10:24 |
| Last Modified: | 02 Mar 2009 14:22 |
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