Abstract
The Lie group Denavit–Hartenberg method and application in the parallel hexapod robot are researched. The hexapod robot and the ground form opened and closed loop alternately; the complete kinematics equation cannot be derived by Denavit–Hartenberg method with a trigonometric function type. The complete kinematics model of the hexapod robot is constructed with the improved Denavit–Hartenberg method. The numerical solving strategy is schemed. The simulation results provide the positive and athwart kinematics response relation during the lift and forward patterns in space. The research shows that the complete kinematics model can be constructed by the Lie group Denavit–Hartenberg method; the numerical calculation method can solve the pose–attitude response correctly.
Highlights
Wheel, track, and leg are the three moving modes of the mobile robot
The comparisons of the variation amplitudes of the kinematic parameters under straight line walking and turning motion which are calculated by MATLAB and ADAMS are listed in Tables 4 and 5, Table 4
The closed-loop pose–attitude equation of the hexapod robot from the body to the foot tip is constructed by the Lie D–H method, with the attitude matrixes and the pose vectors of the legs as the modeling elements, the pose-attitude model has a more concise expression type, and the skew character of the attitude matrix is sufficiently used, so a mass of the intermediate variables is eliminated, which avoids the complexity of the calculation
Summary
Track, and leg are the three moving modes of the mobile robot. The foot-type robot has a higher terrain adaptive capacity because of the discrete contract with the ground.[1]. Based on formula (41), the open-loop solution of the displacement I sk[3] of the foot tip in space has no difficulty on the numerical solution, because the solution is on the conditions that pose I pB and attitude I RB of the body and the rotation matrixes BRzk[0], k0Rzk[1], k1Rzk[2] of the joints are assigned. The position vectors of the feet, the hinge joint of the hips, and the initial angles of hips, shanks, and thighs of the six legs Equations (54)–(56) are the pose and attitude equations are as follows of the parallel hexapod robot under the three conditions, Bb10. The left side of the equation is formula (57), and the right side of the equation is as follows for each leg
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