Concepção e análise de um sistema articulado para locomoção hexápode a dois graus de liberdade

Abstract

This paper describes the kinematics and dynamics study of a structure based on articulated elements for the locomotion of a hexapod robot with two degrees of freedom. The geometry of the selected mechanism is quite versatile allowing several types of gaits. Also, due to the flexibility in defining horizontal and vertical displacement of the legs, the robot will also cope with obstacle transposition better than previous implemented solutions. Additionally, concerns for better maneuverability have imposed shorter gaits. At the end, and based on previous work, an alternative material for construction is considered, allowing lighter but resistant structural components.