On the Modeling of Phantom AX12 Six-Legged Mobile Robot
Zaghloul, A., Hussein, W., Badawy, A., Hossam El-din, Y. (2013). On the Modeling of Phantom AX12 Six-Legged Mobile Robot. EKB Journal Management System, 15(AEROSPACE SCIENCES & AVIATION TECHNOLOGY, ASAT - 15 – May 28 - 30, 2013), 1-16. doi: 10.21608/asat.2013.22136
A. S. Zaghloul; W. M. Hussein; A. Badawy; Y. H. Hossam El-din. "On the Modeling of Phantom AX12 Six-Legged Mobile Robot". EKB Journal Management System, 15, AEROSPACE SCIENCES & AVIATION TECHNOLOGY, ASAT - 15 – May 28 - 30, 2013, 2013, 1-16. doi: 10.21608/asat.2013.22136
Zaghloul, A., Hussein, W., Badawy, A., Hossam El-din, Y. (2013). 'On the Modeling of Phantom AX12 Six-Legged Mobile Robot', EKB Journal Management System, 15(AEROSPACE SCIENCES & AVIATION TECHNOLOGY, ASAT - 15 – May 28 - 30, 2013), pp. 1-16. doi: 10.21608/asat.2013.22136
Zaghloul, A., Hussein, W., Badawy, A., Hossam El-din, Y. On the Modeling of Phantom AX12 Six-Legged Mobile Robot. EKB Journal Management System, 2013; 15(AEROSPACE SCIENCES & AVIATION TECHNOLOGY, ASAT - 15 – May 28 - 30, 2013): 1-16. doi: 10.21608/asat.2013.22136

On the Modeling of Phantom AX12 Six-Legged Mobile Robot

International Conference on Aerospace Sciences and Aviation Technology
Article 63, Volume 15, AEROSPACE SCIENCES & AVIATION TECHNOLOGY, ASAT - 15 – May 28 - 30, 2013, May 2013, Page 1-16  XML PDF (1.65 MB)
Document Type: Original Article
DOI: 10.21608/asat.2013.22136
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Authors
A. S. Zaghloul1; W. M. Hussein1; A. Badawy1; Y. H. Hossam El-din2
1Egyptian Armed Forces, Egypt.
2Higher Technological Institute (HTI), Tenth of Ramadan City, Egypt.
Abstract
Kinematic analysis of phantom AX12 robot is discussed in this paper. Each leg contains three revolute joints in order to mimic the structure of an insect. Denavit-Hartenberg (D-H) conventions are used to perform kinematic analysis of the six-legged robot. To develop the overall kinematic model of phantom ax12 robot, direct and inverse kinematic analyses for
each leg have been considered. Trajectory of each leg is also considered for both swing and support phases. In swing phase analysis, cubic and quantic polynomials are used. The proposed model is then implemented and visualized to verify its performance in comparison with an actual phantom ax12 robot.
Keywords
Kinematic analysis; trajectory planning; six-legged
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