Dynamic analysis on hexapedal water-running robot with compliant joints | IEEE Conference Publication | IEEE Xplore

Dynamic analysis on hexapedal water-running robot with compliant joints


Abstract:

The dynamic analysis has been considered as one of the important design methods to design robots. In this research, we derive dynamic equation of hexapedal water-running ...Show More

Abstract:

The dynamic analysis has been considered as one of the important design methods to design robots. In this research, we derive dynamic equation of hexapedal water-running robot to design compliant joints. The compliant joints that connect three bodies will be used to improve mobility and stability of water-running motion's pitch behavior. We considered all of parts as rigid body including links of six Klann mechanisms and three main frames. And then, we derived dynamic equation by using the Lagrangian method with external force of the water. We are expecting that the dynamic analysis is going to be used to design parts of the water running robot.
Date of Conference: 28 June 2017 - 01 July 2017
Date Added to IEEE Xplore: 27 July 2017
ISBN Information:
Conference Location: Jeju, Korea (South)

References

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