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TECHNICAL PAPERS

Effect of Leg Inertia on Dynamics of Sliding-Leg Hexapods

[+] Author and Article Information
Fengfeng Xi, Wanzhi Han

Integrated Manufacturing Technologies Institute, National Research Council of Canada, London, Ontario, Canada N6G 4X8

Rosario Sinatra

Dipartimento di Chim. Ind. e Ingegneria dei Materiali, Facoltà d’Ingegneria, Università di Messina, salita Sperone 31, 98166 Messina, Italy

J. Dyn. Sys., Meas., Control 123(2), 265-271 (Jun 01, 2001) (7 pages) doi:10.1115/1.1369600 History:
Copyright © 2001 by ASME
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References

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Shabana, A. 1994, Computational Dynamics, Wiley, NY.

Figures

Grahic Jump Location
A constant leg length hexapod
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Mean value of the driving forces
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Standard deviation of the driving forces
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Mean value of the resultant forces of the upper joints
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Standard deviation of the resultant forces of the upper joints
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Mean value of the constraint forces of the lower joints
Grahic Jump Location
Standard deviation of the constraint forces of the lower joints

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