Hostname: page-component-78c5997874-mlc7c Total loading time: 0 Render date: 2024-11-10T12:46:54.282Z Has data issue: false hasContentIssue false
  • English
  • Français

Workspaces of a walking machine and their graphical representation. Part II: static workspaces

Published online by Cambridge University Press:  09 March 2009

S.J. Zhang ,
D. Howard  and
D.J. Sanger
S.J. Zhang
Affiliation:
The Machines, Kinematics and Robotics Group, Research Institute for Design, Manufacturing and Marketing, University of Salford, Salford M5 4WT (U.K.)
D. Howard
Affiliation:
The Machines, Kinematics and Robotics Group, Research Institute for Design, Manufacturing and Marketing, University of Salford, Salford M5 4WT (U.K.)
D.J. Sanger
Affiliation:
The Machines, Kinematics and Robotics Group, Research Institute for Design, Manufacturing and Marketing, University of Salford, Salford M5 4WT (U.K.)
Get access Rights & Permissions [Opens in a new window]

Summary

Part I of this paper was concerned with kinematic workspaces of walking machines, while this paper addresses the static workspaces of a walking machine and their graphical representation. The results of static analysis are presented; the static workspace constraints are established; an algorithm for investigation of static workspaces is presented; and the position static workspaces are analysed and graphically represented for an example walking machine design.

Keywords

StaticWorkspacesWalking machinesLegged robots
Type
Article
Information
Robotica , Volume 14 , Issue 2 , March 1996 , pp. 219 - 226
Copyright
Copyright © Cambridge University Press 1996

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Zhang, S.J., Sanger, D.J. and Howard, D., “Workspaces of a Walking Machine and their Graphical Representation Part I, Kinematic Workplaces” Robotica ?, Part ?.Google Scholar
2.Madhani, A. and Dubowsby, S., “Design and Motion Planning of Multi-limb Robotic Systems: The Force-Workspace Approach” Proceedings of 22nd ASME Mechanisms Conference,Scottsdale, AZ.(1992) DE-45, pp. 581–590.Google Scholar
3.Zhang, S.J., Sanger, D.J. and Howard, D., “The Mechanics of Parallel Mechanisms and Walking Machines” Proceedings of IMechE, Part C, Journal of Mechanical Engineering Science 208 (C6), 367–377 (1994).Google Scholar
4.Howard, D., Sanger, D.J. and Zhang, S.J., “The Kinematics of a Walking Machine” Proceedings of Euriscon 94's Conference,Malaga, Spain,(1994) 3(Stream C), pp. 606–618.Google Scholar
5.Kerr, D.R., Griffis, M., Sanger, D.J. and Duffy, J., “Redundant Grasps, Redundant Manipulators and Their Dual Relationships” J. of Robotic Systems 9(7), 973–1000 (1993).Google Scholar
6.Hirose, S., “A Study of Design and Control of a Quadruped Walking Vehicle” Int. J. Robotics Research 3, 113–133 (1984).CrossRefGoogle Scholar
7.Zhang, S.J., “Multi-legged Walking Machines: Mechanics, Design and Gait” Ph.D. Thesis (University of Salford, U.K., 1995).Google Scholar