Modeling and Analysis of a Modular Multilegged Robot with Improved Fault Tolerance and Environmental Adaptability

<table class="fixed-width table-group" id="tab2"><tr><td><table class="table"><colgroup><col style="width:5.74em"/><col style="width:5.18em"/><col style="width:9.64em"/><col style="width:9.64em"/><col style="width:9.08em"/><col style="width:9.08em"/><col style="width:7.41em"/></colgroup><tr><td class="thead-hr" colspan="7"><hr/></td></tr><tr class="thead"><td class="align_left">Mass of trunk</td><td class="align_center">Mass of leg</td><td class="align_center">Maximum driving torque of steering engine 1</td><td class="align_center">Maximum driving torque of steering engine 2</td><td class="align_center">Maximum suction of magnet</td><td class="align_center">Length of the hexagon of the trunk</td><td class="align_center">Maximum length of leg</td></tr><tr><td class="thead-hr" colspan="7"><hr/></td></tr><tr><td class="align_left">1.5 kg</td><td class="align_center">0.5 kg</td><td class="align_center">10 Nm</td><td class="align_center">10 Nm</td><td class="align_center">4 N</td><td class="align_center">0.4 m</td><td class="align_center">0.2 m</td></tr><tr class="table-tr"><td colspan="7"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Structure parameters of modular six-legged robot.</div>

Mathematical Problems in Engineering

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Table 2

Table 2: Modeling and Analysis of a Modular Multilegged Robot with Improved Fault Tolerance and Environmental Adaptability 