Mechanical design of a hexapod with integrated limb mechanism: MELMANTIS

Noriho Koyachi*, Hironori Adachi, Tatsuo Arai, Akira Murakami

*此作品的通讯作者

科研成果: 书/报告/会议事项章节章节同行评审

摘要

This paper describes the mechanical design of a prototype hexapod with integrated limb mechanism, named `MELMANTIS.' MELMANTIS uses a six-bar linkage with four degrees-of-freedom as an example of integrated limb mechanism with both advantages for leg and for arm. Manipulatability ellipsoids are used to compare the foot tip velocity in different linkage dimensions in kinematic analysis. Several items on leg and body configuration design are taken into account for a hexapod with the transformable legs into arms. Basic motion of MELMANTIS is experimented to verify the transformation of a leg mechanism into an arm.

源语言英语
主期刊名Proceedings of the Japan/USA Symposium on Flexible Automation
编辑K. Stelson, F. Oba
139-144
页数6
出版状态已出版 - 1996
已对外发布
活动Proceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2) - Boston, MA, USA
期限: 7 7月 199610 7月 1996

出版系列

姓名Proceedings of the Japan/USA Symposium on Flexible Automation
1

会议

会议Proceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2)
Boston, MA, USA
时期7/07/9610/07/96

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引用此

Koyachi, N., Adachi, H., Arai, T., & Murakami, A. (1996). Mechanical design of a hexapod with integrated limb mechanism: MELMANTIS. 在 K. Stelson, & F. Oba (编辑), Proceedings of the Japan/USA Symposium on Flexible Automation (页码 139-144). (Proceedings of the Japan/USA Symposium on Flexible Automation; 卷 1).