In robotics, both the analytical and numerical studies play a vital role to predict the dynamic behaviours of robotic systems. Nevertheless, dynamic modelling is essential to predict the system behaiours. In this paper, both the analytical and numerical approaches are worked out for a leg of a hydraulic quadruped robot. The research aims at the identification of system parameters like inertial and geometrical magnitudes of a complex assembled leg at various cases. Due to the articulated mechanism, the model owns a significant mathematical complexity which should be possibly reduced through a combined use of analytical and multibody tools as a preliminary step to experimental identification. Both simulations and experiments results have been carried out for the goal.

Dynamic modelling and analysis of an articulated robotic leg / D'Imperio, M.; Cannella, F.; Carbonari, L.; Rahman, N.; Caldwell, D. G.. - 9:(2015). (Intervento presentato al convegno ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 tenutosi a usa nel 2015) [10.1115/DETC2015-47140].

Dynamic modelling and analysis of an articulated robotic leg

Carbonari L.;
2015-01-01

Abstract

In robotics, both the analytical and numerical studies play a vital role to predict the dynamic behaviours of robotic systems. Nevertheless, dynamic modelling is essential to predict the system behaiours. In this paper, both the analytical and numerical approaches are worked out for a leg of a hydraulic quadruped robot. The research aims at the identification of system parameters like inertial and geometrical magnitudes of a complex assembled leg at various cases. Due to the articulated mechanism, the model owns a significant mathematical complexity which should be possibly reduced through a combined use of analytical and multibody tools as a preliminary step to experimental identification. Both simulations and experiments results have been carried out for the goal.
2015
978-0-7918-5719-9
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11566/296798
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 3
  • ???jsp.display-item.citation.isi??? 0
social impact