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Proceedings Paper

Mechanical design of three-limb robot's foot
Author(s): Ji-zhuang Fan; Jie Zhao; He-gao Cai
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Paper Abstract

Developed the foot mechanism, which is one of the key parts of three-limb permanent magnetic adsorption robot HIT-RMT. With this foot mechanism, the limbs of the robot can be transformed into adsorption feet to walk when needed, as well as operators to carry out assignments. Three-dimension force/moment sensor has been employed in the design of the foot, which is used to detect force information between the robot and the walking surface or operating objects. One permanent magnetic adsorption mechanism has been designed, and with it, the robot is easy to realize the adsorption and departure with the working surface with comparatively small energy consuming and ensured safety.

Paper Details

Date Published: 2 May 2006
PDF: 4 pages
Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60422U (2 May 2006); doi: 10.1117/12.664677
Show Author Affiliations
Ji-zhuang Fan, Harbin Institute of Technology (China)
Jie Zhao, Harbin Institute of Technology (China)
He-gao Cai, Harbin Institute of Technology (China)


Published in SPIE Proceedings Vol. 6042:
ICMIT 2005: Control Systems and Robotics
Yunlong Wei; Kil To Chong; Takayuki Takahashi; Shengping Liu; Zushu Li; Zhongwei Jiang; Jin Young Choi, Editor(s)

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