吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (5): 1512-1518.doi: 10.13229/j.cnki.jdxbgxb201505020

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Performance of walking leg of a hydraulically actuated hexapod robot

LIU Yi-qun1, DENG Zong-quan1, ZHAO Liang2, DING Liang1, TONG Zhi-zhong1, GAO Hai-bo1   

  1. 1.State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China;
    2.Institute of Scientific Research, Inner Mongolia First Machinery Group Co. Ltd., Baotou 014030, China
  • Received:2013-12-18 Online:2015-09-01 Published:2015-09-01

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Abstract: A kinematic model of the leg is established and the workspace of the foot is analyzed based on the walking leg designed for a hydraulically actuated hexapod robot. The performance testing system of the leg is established, the hardware of the controller of the testing system is designed, and the software for motion testing is developed. Experimental results show that the movement tracking error of single joint and the coordinate motion tracking error of joints are less than one degree. Dynamic characteristics of the joint meet that amplitude attenuation is less than -3 dB when the frequency is 0.5 Hz. It is verified that the performance of the waling leg meets the motion requirements of the hexapod robot.

Key words: automatic control technology, hexapod robot, hydraulic actuation, walking leg, performance testing

CLC Number: 

  • TP242.6
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