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Workspaces of a walking machine and their graphical representation. Part II: static workspaces

Published online by Cambridge University Press:  09 March 2009

S.J. Zhang ,
D. Howard  and
D.J. Sanger
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. Howard
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.)
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Summary

Part I of this paper was concerned with kinematic workspaces of walking machines, while this paper addresses the static workspaces of a walking machine and their graphical representation. The results of static analysis are presented; the static workspace constraints are established; an algorithm for investigation of static workspaces is presented; and the position static workspaces are analysed and graphically represented for an example walking machine design.

Keywords

StaticWorkspacesWalking machinesLegged robots
Type
Article
Information
Robotica , Volume 14 , Issue 2 , March 1996 , pp. 219 - 226
Copyright
Copyright © Cambridge University Press 1996

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References

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