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

^*此作品的通讯作者

Japan Ministry of Economy, Trade and Industry

科研成果: 会议稿件 › 论文 › 同行评审

14 引用（Scopus）

摘要

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.

源语言	英语
页	273-278
页数	6
出版状态	已出版 - 1997
已对外发布	是
活动	Proceedings of the 1997 8th International Conference on Advanced Robotics, ICAR'97 - Monterey, CA, USA 期限: 7 7月 1997 → 9 7月 1997

会议

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

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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

摘要

会议

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