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 |
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主期刊名 | Proceedings of the Japan/USA Symposium on Flexible Automation |
编辑 | K. Stelson, F. Oba |
页 | 139-144 |
页数 | 6 |
出版状态 | 已出版 - 1996 |
已对外发布 | 是 |
活动 | Proceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2) - Boston, MA, USA 期限: 7 7月 1996 → 10 7月 1996 |
出版系列
姓名 | Proceedings of the Japan/USA Symposium on Flexible Automation |
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卷 | 1 |
会议
会议 | Proceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2) |
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市 | Boston, MA, USA |
时期 | 7/07/96 → 10/07/96 |
指纹
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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).