Situative bewegungssimulation des zweibeinigen, parallelkinematischen schreitroboters centaurob
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Situative bewegungssimulation des zweibeinigen, parallelkinematischen schreitroboters centaurob. / Schulz, Stefan; Seibel, Arthur; Schlattmann, Josef.
In: VDI Berichte, No. 2286, 2016, p. 119-130.Research output: Journal contributions › Conference article in journal › Research › peer-review
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TY - JOUR
T1 - Situative bewegungssimulation des zweibeinigen, parallelkinematischen schreitroboters centaurob
AU - Schulz, Stefan
AU - Seibel, Arthur
AU - Schlattmann, Josef
N1 - Conference code: 18
PY - 2016
Y1 - 2016
N2 - The Workgroup on System Technologies and Engineering Design Methodology at Hamburg University of Technology is currently developing the second prototype of the two-legged walking robot CENTAUROB, which consists of two serially arranged parallel kinematics (hexapods). By the patented C-shaped feet, a movement in any direction is possible, so that the robot can handle slopes as well as straight and spiral stairs. Therewith, the CENTAU-ROB represents a universal walking machine that allows many applications due to its high stability, strength, and precision. In this paper, situational motion simulations of the CENTAUROB are presented in order to illustrate the diversity of possible motions of this robot. Here, the paths of the center of mass of the individual bodies, the overall center of mass, and the projection of the overall center of mass are taken as an equilibrium criterion during one step. In addition, the necessary compensatory movements of the hip during one step and the boundaries of the working area are illustrated and discussed.
AB - The Workgroup on System Technologies and Engineering Design Methodology at Hamburg University of Technology is currently developing the second prototype of the two-legged walking robot CENTAUROB, which consists of two serially arranged parallel kinematics (hexapods). By the patented C-shaped feet, a movement in any direction is possible, so that the robot can handle slopes as well as straight and spiral stairs. Therewith, the CENTAU-ROB represents a universal walking machine that allows many applications due to its high stability, strength, and precision. In this paper, situational motion simulations of the CENTAUROB are presented in order to illustrate the diversity of possible motions of this robot. Here, the paths of the center of mass of the individual bodies, the overall center of mass, and the projection of the overall center of mass are taken as an equilibrium criterion during one step. In addition, the necessary compensatory movements of the hip during one step and the boundaries of the working area are illustrated and discussed.
KW - Ingenieurwissenschaften
UR - http://www.scopus.com/inward/record.url?scp=85106061120&partnerID=8YFLogxK
UR - https://elibrary.vdi-verlag.de/10.51202/9783181022863/bewegungstechnik-2016?hitid=153&search-click
M3 - Konferenzaufsätze in Fachzeitschriften
AN - SCOPUS:85106061120
SP - 119
EP - 130
JO - VDI Berichte
JF - VDI Berichte
SN - 0083-5560
IS - 2286
T2 - 18th VDI Transmission Conference on Movement Technology, 2016
Y2 - 20 September 2016 through 21 September 2016
ER -