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Workspaces of a walking machine and their graphical representation. Part I: kinematic workspaces

Published online by Cambridge University Press:  09 March 2009

S. J. Zhang ,
D. J. Sanger  and
D. Howard
S. J. Zhang
Affiliation:
The Machines, Kinematics and Robotics Group, Research Institute for Design, Manufacturing and Marketing, University of Salford, Salford M5 4WT (U.K.)
D. J. Sanger
Affiliation:
The Machines, Kinematics and Robotics Group, Research Institute for Design, Manufacturing and Marketing, University of Salford, Salford M5 4WT (U.K.)
D. Howard
Affiliation:
The Machines, Kinematics and Robotics Group, Research Institute for Design, Manufacturing and Marketing, University of Salford, Salford M5 4WT (U.K.)
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Summary

This paper addresses the kinematic workspaces of a walking machine and their graphical representation. The workspaces for walking machines are denned and the methods for investigating various workspaces are presented; the kinematic workspace constraints are established; the displacement is analysed; an algorithm for investigation of kinematic workspaces is presented; and the position and orientation kinematic workspaces are analysed and graphically represented for an example walking machine design.

Keywords

KinematicWorkspaceWalking machinesLegged robots
Type
Articles
Information
Robotica , Volume 14 , Issue 1 , January 1996 , pp. 71 - 79
Copyright
Copyright © Cambridge University Press 1996

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