TY - GEN
T1 - Analysis and Structure Design of the Underwater Hexapod Robot Leg
AU - Lianzhao, Zhang
AU - Pengfei, Wang
AU - Fusheng, Zha
AU - Xiuwen, Bi
AU - Wei, Guo
AU - Chen, Chen
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - In this paper, the leg structure design of an underwater hexapod robot was carried out based on the establishment of the dynamics model considering the influence of the water dynamics. The basic leg structure was selected and the kinematics model of the leg was analyzed firstly to obtain the leg link velocities and the Jacobian matrix. Based on the link velocities and the Jacobian matrix obtained, the leg dynamics model of the underwater robot considering the water influence was constructed through the combination of the Lagrange equation and Morison equation. With the dynamics model established, simulation experiments were carried out based on Fluent and Adams platforms to get the maximum joint torques. According to the maximum joint torques achieved, appropriate joint motors were chosen to finally fulfill the detailed leg structure design.
AB - In this paper, the leg structure design of an underwater hexapod robot was carried out based on the establishment of the dynamics model considering the influence of the water dynamics. The basic leg structure was selected and the kinematics model of the leg was analyzed firstly to obtain the leg link velocities and the Jacobian matrix. Based on the link velocities and the Jacobian matrix obtained, the leg dynamics model of the underwater robot considering the water influence was constructed through the combination of the Lagrange equation and Morison equation. With the dynamics model established, simulation experiments were carried out based on Fluent and Adams platforms to get the maximum joint torques. According to the maximum joint torques achieved, appropriate joint motors were chosen to finally fulfill the detailed leg structure design.
KW - Dynamics model
KW - Leg structure design
KW - Morison equation
KW - Underwater hexapod robot
UR - https://www.scopus.com/pages/publications/85125294412
U2 - 10.1109/ICMRA53481.2021.9675582
DO - 10.1109/ICMRA53481.2021.9675582
M3 - 会议稿件
AN - SCOPUS:85125294412
T3 - 2021 4th International Conference on Mechatronics, Robotics and Automation, ICMRA 2021
SP - 1
EP - 5
BT - 2021 4th International Conference on Mechatronics, Robotics and Automation, ICMRA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th International Conference on Mechatronics, Robotics and Automation, ICMRA 2021
Y2 - 22 October 2021 through 24 October 2021
ER -