1A1-P10 Development of ASURA I: Harvestman-like Hexapod Walking Robot : 4th Report: Analysis of Leg Mechanism and Leg Driving Experiment(Walking Robot (1))

Abstract

We have been developing a harvestman-like hexapod walking robot named ASURA I. Modeled on a harvestman in nature, we introduced the concept of mobile form that has long legs and small body to ASURA I to enhance mobile performance on rough terrain. We designed leg mechanism using special parallel link mechanism to drive leg joints powerfully and effectively. This paper describes leg mechanism analysis and leg driving experiment. First, we analyzed kinematics of leg mechanism. Then, we reported singular point of parallel link mechanism and output power at the tip of leg in reachable area. Finally, we tested basic performance using prototype leg mechanism.