Static Stability Analysis of Hexagonal Hexapod Robot for the Periodic Gaits†

Z. Khaleel, Hind; Firas A. Raheem, Dr.

	Static Stability Analysis of Hexagonal Hexapod Robot for the Periodic Gaits†
IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING
Article 1, Volume 14, Issue 3, 2014, Pages 10-20
Authors
Hind Z. Khaleel; Dr. Firas A. Raheem
Abstract
Abstract –Hexagonal hexapod robot is a flexible mechanical robot with six legs. It has the ability to walk over terrain. The hexapod robot likes insect so it has the same periodic gaits. These gaits are tripod, wave and ripple gaits. Hexapod robot needs to stay statically stable at all the times during each gait in order not to fall with three or more legs continuously contacts with the ground. The safety static stability walking can be indicated by the stability margin. In this paper we based on the forward, inverse kinematics for each hexapod’s leg to simulate the hexapod robot model walking for all periodic gaits and the geometry in order to derive the equations of the sub-constraint workspaces for each hexapod’s leg. They are defined as the sub-constraint workspaces volumes when the legs are moving without collision with each other and they are useful to keep the legs stable from falling during each gait. A smooth gait was analyzed and enhanced for each hexapod’s leg in two phases, stance phase and swing phase. The equations of the stability margins are derived and computed for each gait. The simulation results of our enhanced path planning of the hexapod robot approach whish’s include all the gaits are statically stable and we are compared between all stability margins for each gait. In addition, our results show clearly that the tripod gait is the fastest gait while the wave and the ripple gaits are more stable than the tripod gait but the last one has less peaks of stability margins than others.
Keywords
Kinematics; Stability margin; Workspace; Hexapod robot

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