Mechanical design of hexapods with integrated limb mechanism: MELMANTIS-1 and MELMANTIS-2

Noriho Koyachi; Tatsuo Arai; Hironori Adachi; Akira Murakami; Ken Kawai

Mechanical design of hexapods with integrated limb mechanism: MELMANTIS-1 and MELMANTIS-2

Noriho Koyachi^*, Tatsuo Arai, Hironori Adachi, Akira Murakami, Ken Kawai

^*Corresponding author for this work

Japan Ministry of Economy, Trade and Industry

Research output: Contribution to conference › Paper › peer-review

14 Citations (Scopus)

Abstract

This paper describes the mechanical design and basic control of prototype hexapods with `Integrated Limb Mechanism,' named `MELMANTIS-1' and `MELMANTIS-2.' MELMANTIS-1 and MELMANTIS-2 use a six-bar linkage with four degrees-of-freedom as an integrated limb mechanism with dual use for leg and for arm. The mechanical design of MELMANTIS-1 is based on kinematic analysis of the six-bar linkage. MELMANTIS-2 is designed and manufactured to improve mechanical stiffness and to reduce position control errors of arms, based on the result of basic experiments of MELMANTIS-1.

Original language	English
Pages	273-278
Number of pages	6
Publication status	Published - 1997
Externally published	Yes
Event	Proceedings of the 1997 8th International Conference on Advanced Robotics, ICAR'97 - Monterey, CA, USA Duration: 7 Jul 1997 → 9 Jul 1997

Conference

Conference	Proceedings of the 1997 8th International Conference on Advanced Robotics, ICAR'97
City	Monterey, CA, USA
Period	7/07/97 → 9/07/97

Cite this

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title = "Mechanical design of hexapods with integrated limb mechanism: MELMANTIS-1 and MELMANTIS-2",

abstract = "This paper describes the mechanical design and basic control of prototype hexapods with `Integrated Limb Mechanism,' named `MELMANTIS-1' and `MELMANTIS-2.' MELMANTIS-1 and MELMANTIS-2 use a six-bar linkage with four degrees-of-freedom as an integrated limb mechanism with dual use for leg and for arm. The mechanical design of MELMANTIS-1 is based on kinematic analysis of the six-bar linkage. MELMANTIS-2 is designed and manufactured to improve mechanical stiffness and to reduce position control errors of arms, based on the result of basic experiments of MELMANTIS-1.",

author = "Noriho Koyachi and Tatsuo Arai and Hironori Adachi and Akira Murakami and Ken Kawai",

year = "1997",

language = "English",

pages = "273--278",

note = "Proceedings of the 1997 8th International Conference on Advanced Robotics, ICAR'97 ; Conference date: 07-07-1997 Through 09-07-1997",

}

TY - CONF

T1 - Mechanical design of hexapods with integrated limb mechanism

T2 - Proceedings of the 1997 8th International Conference on Advanced Robotics, ICAR'97

AU - Koyachi, Noriho

AU - Arai, Tatsuo

AU - Adachi, Hironori

AU - Murakami, Akira

AU - Kawai, Ken

PY - 1997

Y1 - 1997

N2 - This paper describes the mechanical design and basic control of prototype hexapods with `Integrated Limb Mechanism,' named `MELMANTIS-1' and `MELMANTIS-2.' MELMANTIS-1 and MELMANTIS-2 use a six-bar linkage with four degrees-of-freedom as an integrated limb mechanism with dual use for leg and for arm. The mechanical design of MELMANTIS-1 is based on kinematic analysis of the six-bar linkage. MELMANTIS-2 is designed and manufactured to improve mechanical stiffness and to reduce position control errors of arms, based on the result of basic experiments of MELMANTIS-1.

AB - This paper describes the mechanical design and basic control of prototype hexapods with `Integrated Limb Mechanism,' named `MELMANTIS-1' and `MELMANTIS-2.' MELMANTIS-1 and MELMANTIS-2 use a six-bar linkage with four degrees-of-freedom as an integrated limb mechanism with dual use for leg and for arm. The mechanical design of MELMANTIS-1 is based on kinematic analysis of the six-bar linkage. MELMANTIS-2 is designed and manufactured to improve mechanical stiffness and to reduce position control errors of arms, based on the result of basic experiments of MELMANTIS-1.

UR - http://www.scopus.com/inward/record.url?scp=0030688381&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:0030688381

SP - 273

EP - 278

Y2 - 7 July 1997 through 9 July 1997

ER -

Mechanical design of hexapods with integrated limb mechanism: MELMANTIS-1 and MELMANTIS-2

Abstract

Conference

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