The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2016
Session ID : 1A2-06b2
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Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : June 08, 2016 - June 11, 2016

Degrees of Freedom Arrangement of Tri-Frame Six-legged Robot
Yuji SASAKI, Kan YONEDA
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Keywords: Tri-Frame, working robot, hexapod
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Abstract

This paper introduces a Tri-Frame type robot. It is based on the construction method of reduced degrees of freedom. However, there are times when you want more DOF in working robot. The robot function is changed by the difference in the number of active DOF. We discuss the operation when the DOF is changed 9-18. As an example it shows the six-legged robot to be consists of 15 DOF.

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© 2016 The Japan Society of Mechanical Engineers
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