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Kinematics, Dynamics, and Optimal Control of Pneumatic Hexapod Robot

Author

Listed:
  • Long Bai
  • Lu-han Ma
  • Zhifeng Dong
  • Xinsheng Ge

Abstract

Pneumatic hexapod robot is driven by inert gas carried by itself, which has board application prospect in rescue operation of disaster conditions containing flammable gas. Cruising ability is main constraint for practical engineering application which is influenced by kinematics and dynamics character. The matrix operators and pseudospectral method are used to solve dynamics modeling and numerical calculation problem of robot under straight line walking. Kinematics model is numerically solved and relationship of body, joints, and drive cylinders is obtained. With dynamics model and kinematics boundary conditions, the optimal input gas pressure of leg swing and body moving in one step is obtained by pseudospectral method. According to action character of magnetic valve, calculation results of control inputs satisfy engineering design requirements, and cruising ability under finite gas is obtained.

Suggested Citation

  • Long Bai & Lu-han Ma & Zhifeng Dong & Xinsheng Ge, 2017. "Kinematics, Dynamics, and Optimal Control of Pneumatic Hexapod Robot," Mathematical Problems in Engineering, Hindawi, vol. 2017, pages 1-16, March.
    • Handle: RePEc:hin:jnlmpe:6841972
    DOI: 10.1155/2017/6841972
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    Cited by:

    1. Yue Liu & Shuangfu Suo & Guoying Meng & Deyong Shang & Long Bai & Jianwen Shi, 2019. "A Theoretical Rigid Body Model of Vibrating Screen for Spring Failure Diagnosis," Mathematics, MDPI, vol. 7(3), pages 1-16, March.

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