Design and Establishment of Platform of Tripedal Industrial Robots

摘要

Modern industries use many types of robots. The biped or quadped robots are the most common robots in the robot category. However, in terms of efficiency, flexibility, and stability, the developing tripedal robots could be the best candidate. The research starts from establishing the platform of the tripedal robots. The mathematic model of the tripedal robot is generated by applying the forward kinematics and the inverse kinematics. The research then adopts the MSC Virtual Nastran simulation software to calculate the optimal values applied to the tripedal robots for verification. The major issue is about the balance of the static stability and dynamic stability. The research also tries to develop the most power-saving method and the largest moving steps. The platform of the tripedal robot will become a significant design reference for the commercialization of different industrial robots, and it will provide the design of industrial robots with more options and useful applications.