**Hello… I was wondering if anyone has any experience
or have u any information about 3 factors i needed in my research
(Precision,Friction,Motion) i need values of these factors of (BH3-R hexapod Robot ) plz. thanks for all…
i have finished kinematic , inverse and algorithm but i want these factors because i dont have any equations of dynamic (my work is not depended on dynamic just i need factors ) my work only static and related with stability of hexapod robot thanks…
these factors are too important to me .**
Hi. I can’t say I’m exactly sure what you’re asking for but I can try to help.
Precision will probably depend on the servos you are using but typically a servo’s resolution is around a 1/10th of a degree.
Friction. If you are talking about friction in the joints that might be dificult to answer. When not powered the servos will offer resistance because of the gearing and motor. Friction with the servo factored out would be pretty much negligable since I’m pretty sure the joints use flanged bearings.
But, if you’re talking about friction between the feet and the surface you’re standing on then that will depend on what surface you’re walking on. If you need the coeficient of friction for them you can do an experiment: weigh the hexapod, then while the hexapod is standing attach a pull scale. Pull the scale and watch for how much force is needed to get the hex to start moving, divide that force by the weight and that’s your static coefficient. Then keep pulling and see how much force is needed to keep the hex moving, divide that by the weight and that’s your dynamic coefficient.
I’m not sure what you’re asking for regarding motion though. Hopefully the other things help.
thanks for ur answer Mr.
my research is path planning hexapod (BH3-R)
i had finished kinematic and inverse of Bh3-R hexapod robot and iths static stability analysis , i just have walking my robot from start point to goal point using Genetic algorithm , i get paper very good for complete my path planning (BH3-R hexapod robot) .
the paper is about rectangular hexapod but my robot (round hexapod ) so i must change kinematic +inverse of paper with kinematic +inverse of my Robot .
my problem is in fitness function with three factors
(Precision,Friction,Motion) i did not understanded these factors of servo or of body …etc.and if these factors is the same factors if i use round robot instead of rectangular hexapod in the paper. i am M.S.c student from iraq and this research is new and i have read all time to help myself
i implement the table 2 (chromosome ) and get the same results of table expect fitness i want these factors of BH3-R robot to implement fitness
thank u very much …i hope u can help me thanks for ur answer Mr.
my research is path planning hexapod (BH3-R)
i had finished kinematic and inverse of Bh3-R hexapod robot and iths static stability analysis , i just have walking my robot from start point to goal point using Genetic algorithm , i get paper very good for complete my path planning (BH3-R hexapod robot) .
the paper is about rectangular hexapod but my robot (round hexapod ) so i must change kinematic +inverse of paper with kinematic +inverse of my Robot .
my problem is in fitness function with three factors
(Precision,Friction,Motion) i did not understanded these factors of servo or of body …etc.and if these factors is the same factors if i use round robot instead of rectangular hexapod in the paper. i am M.S.c student from iraq and this research is new and i have read all time to help myself
i implement the table 2 (chromosome ) and get the same results of table expect fitness i want these factors of BH3-R robot to implement fitness.my atachment is servo type hs-485 HB and paper and in last many months i connect robot and opreate it on tripod gait now i want to apply this paper to my therotical resualts .
i need factors influence on theta such as friction =50/100 th1 (th1 =coxa joint) ,friction =20/100 th2(th2 =femur joint),
friction =30/100 th3(th3 =tibia joint) that sum of them = 100/100 and the same example on other factors such as precision ,movement of joints thanks what i should do ?
