声明
致谢
Chapter 1:Introduction
1.1. Introduction
1.2. General concepts of hexapod robot
1.3. Requirements and delimitations
Chapter 2:Designing and optimizing of the mechanical model of the climbing robot
2.1. Introduction
2.2. Review of literature
2.3. Materials and Methods
2.4. Experiences
2.5. General discussion
Chapter 3:Implementation of backbone joint, improvement of stability during climbing
3.1. Introduction
3.2. Review of literature
3.3. Materials and Methods
3.4. Experiences
Chapter 4:Implementation of additional joint movement, improvement of climbing capability
4.1. Introduction
4.2. Review of literature
4.3. Materials and Methods
4.4. Experiences
Chapter 5:Positions of hexapod legs in global space
5.1. Introduction and literature review
5.2. Method of coordinates frames transformation
5.3. Leg tip coordinates in global frame-Application
CHAPTER 6:Analyze of workspace of the hexapod
6.1. Introduction and review of literature
6.2. Materials and Methods
6.3. Experiences
Chapter 7:Analyze of gait during walking and climbing
7.1. Presentation of several gaits
7.2. Support of polygon
7.3. Several tripod gaits
7.4. Application of gaits depending of the terrain
Chapter 8:Analysis of stability–Program
8.1. Introduction and presentation of the program
8.2. Simulation of the mathematical and geometrical methods
Chapter 9:Simulation of the hexapod by ADAMS Software
8.3. Introduction/ADAMS Approach
8.4. The hexapod is on the slope terrain–Wave gait
8.5. The hexapod is on the wall–One by one gait
8.6. The hexapod is on the planar terrain–Tripod gait
Chapter 10:Conclusion
10.1. Main researches
10.2. Future work perspectives
Appendix
参考文献
