Mass Distribution Effects on Dynamic Performance of a Cable-Driven Hexapod

Abstract

This paper illustrates the use of dynamic performance analysis in the design of legged robots, specifically hexapods. This is accomplished by comparing the dynamic performance of a cable-driven hexapod to that of a more conventional design in which the actuators are mounted at the joints. By integrating the actuators into the torso and through the use of cable transmission, the mass and inertias of the legs are reduced in order to attain high accelerations and backdrivability. The dynamic performance described herein is bounded by the actuator torque limits and the no-slip condition at the ground contact points. The result is a description of how well each hexapod can accelerate its torso without causing slippage at the ground contact points.