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首页> 外文会议>Proceedings of the 16th IASTED international conference on robotics and applications; The IASTED international symposia on computational photography computer vision. >THE RELIABILITY IN HEXAPOD ROBOT BEFORE AND AFTER THE FAULT EVENT IN ROBOTS LEG
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THE RELIABILITY IN HEXAPOD ROBOT BEFORE AND AFTER THE FAULT EVENT IN ROBOTS LEG

机译：机器人腿发生故障之前和之后六边形机器人的可靠性

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摘要

Fault events, for example a locked joint in one or more ofrnthe robot’s legs, disturb continued locomotion of thernhexapod. In this article it is shown that by increasing thernnumber of joints in order to increase the mobility, thernstability margin in the robot’s legs will be decreased. Thernincreased number of joints used in the legs causes anrnincrease in the failure rate which reduces the reliability ofrnthe robot’s legs. In this article reliability has been studiedrnfrom two viewpoints:rn1. Inward model of robots legrn2. Outward model of robots legrnBy studying these two views, the final results ofrnexamining the reliability in the robot’s leg will be shownrnthrough mathematical relations and graphical simulations.rnFinally it will be shown that reliability is an importantrnfactor in the design of legged robots and is one of thernlimiting factors in choosing the optimal number of jointsrnin robot’s legs.
机译：故障事件（例如，机器人的一个或多个腿部的关节被锁定）干扰了六足动物的持续运动。本文显示，通过增加关节数量以增加移动性，机器人腿部的稳定性裕度将降低。腿部使用的关节数增加会导致故障率增加，从而降低机器人腿部的可靠性。本文从两个角度对可靠性进行了研究：机器人legrn2的内部模型。通过研究这两种观点，将通过数学关系和图形仿真来显示检查机器人腿的可靠性的最终结果。最后，将显示可靠性是有腿机器人设计中的重要因素，并且是极限机器人之一。选择机器人腿的最佳关节数的因素。

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