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  • Sidelength of Hexagon Coxabodycenteroffset X Z Dimension

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    refaat100
    24 views6 pages
    The document contains specifications for a hexapod robot including leg dimensions, initial foot positions, body center offset, leg angles, and inverse kinematics calculations. It defines side lengths, joint lengths, initial foot positions for 6 legs, body center offset from the coxa joints, desired leg angles, and calculated joint angles to achieve the desired foot positions through inverse kinematics.

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    V1

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    The document contains specifications for a hexapod robot including leg dimensions, initial foot positions, body center offset, leg angles, and inverse kinematics calculations. It defines side lengths, joint lengths, initial foot positions for 6 legs, body center offset from the coxa joints, desired leg angles, and calculated joint angles to achieve the desired foot positions through inverse kinematics.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as XLSX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as xlsx, pdf, or txt
    24 views6 pages

    Sidelength of Hexagon Coxabodycenteroffset X Z Dimension

    Uploaded by

    refaat100
    The document contains specifications for a hexapod robot including leg dimensions, initial foot positions, body center offset, leg angles, and inverse kinematics calculations. It defines side lengths, joint lengths, initial foot positions for 6 legs, body center offset from the coxa joints, desired leg angles, and calculated joint angles to achieve the desired foot positions through inverse kinematics.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as XLSX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as xlsx, pdf, or txt
    of 6

    SideLength of Hexagon

    45
    Dimension
    Coxa Length
    Femur Length
    Tibia Length

    12.0
    35.0
    38.0

    Init Feet Position


    Leg Num
    FeetPosX (wrt coxa)
    FeetPosY (wrt coxa)
    FeetPosZ (wrt coxa)

    1
    23.5
    38.0
    40.7

    CoxaBodyCenterOffset
    BodyCoxaOffsetX
    22.5
    BodyCoxaOffsetZ
    39.0
    BodyCoxaOffset
    45.0

    2
    47.0
    38.0
    0.0

    3
    23.5
    38.0
    -40.7
    Center
    mm

    4
    -23.5
    38.0
    -40.7
    X

    X
    1
    2
    3
    4
    5
    6

    5
    -47.0
    38.0
    0.0
    Z

    Z
    22.5 39.0
    45.0
    0.0
    22.5 -39.0
    -22.5 -39.0
    -45.0
    0.0
    -22.5 39.0

    6
    -23.5
    38.0
    40.7
    Y

    38

    60

    60
    150.0

    10

    10
    -80 -60 -40 -20 0
    -40

    -40

    100.0

    50.0
    60
    0.0

    10

    -150.0

    -100.0

    -50.0

    -80 -60 -40 -20 0


    -40

    100.0

    150.0

    -40

    -100.0

    10

    -150.0
    -40

    -80 -60 -40 -20 0


    -40

    Z1
    -22.5
    22.5
    45.0
    22.5
    -22.5
    -45.0

    50.0

    -50.0

    60

    Body Display
    Body
    X1
    1
    2
    3
    4
    5
    6

    0.0

    X2
    39.0
    39.0
    0.0
    -39.0
    -39.0
    0.0

    Z2
    22.5
    45.0
    22.5
    -22.5
    -45.0
    -22.5

    39.0
    0.0
    -39.0
    -39.0
    0.0
    39.0

    Legs Angles
    Leg Num
    Coxa
    Femur
    Tibia

    60
    10
    0

    20 40 60 80

    -40

    60
    10

    20 40 60 80

    -40

    60

    Display Data
    Leg Num
    LegLengthXZ
    CoxaStartPosY
    CoxaEndPosY
    CoxaStartPosXZ
    CoxaEndPosXZ
    FemurStartPosY
    FemurEndPosY
    FemurStartPosXZ
    FemurEndPosXZ
    TibiaStartPosY
    TibiaEndPosY
    TibiaStartPosXZ
    TibiaEndPosXZ
    FeetPosX
    FeetPosY
    FeetPosZ

    -40

    20 40 60 80

    2
    0.0
    0.0
    0.0
    1500.0
    1500.0
    1500.0

    3
    0.0
    0.0
    0.0
    1500.0
    1500.0
    1500.0

    4
    0.0
    0.0
    0.0
    1500.0
    1500.0
    1500.0

    1.0
    47.0
    38.0
    38.0
    0.0
    12.0
    38.0
    38.0
    12.0
    47.0
    38.0
    0.0
    47.0
    47.0

    2.0
    47.0
    38.0
    38.0
    0.0
    12.0
    38.0
    38.0
    12.0
    47.0
    38.0
    0.0
    47.0
    47.0

    3.0
    47.0
    38.0
    38.0
    0.0
    12.0
    38.0
    38.0
    12.0
    47.0
    38.0
    0.0
    47.0
    47.0

    4.0
    47.0
    38.0
    38.0
    0.0
    -12.0
    38.0
    38.0
    -12.0
    -47.0
    38.0
    0.0
    -47.0
    -47.0

    92.0
    38.0
    0.0

    46.0
    38.0
    -79.7

    -46.0
    38.0
    -79.7

    3
    -79.7
    46.0
    92.0
    -1.0
    0.0

    4
    -79.7
    -46.0
    92.0
    4.2
    0.0

    5
    0.0
    -92.0
    92.0
    3.1
    0.0

    Inputs
    PosX
    PosY
    PosZ

    0
    0
    0

    RotX
    RotY
    RotZ

    0
    0
    0

    46.0
    38.0
    79.7
    10
    10
    10
    10
    10
    10
    10
    15
    10

    Body IK
    LegNum
    1
    TotalZ
    79.7
    TotalX
    46.0
    DistBodyCenterFeet92.0
    AngleBodyCenterX 1.0
    RollY
    0.0

    2
    0.0
    92.0
    92.0
    0.0
    0.0

    10
    0

    1
    0.0
    0.0
    0.0
    1500.0
    1500.0
    1500.0

    PitchY
    BodyIkX
    BodyIkZ
    BodyIkY
    Leg IK
    LegNum
    New PosX
    New PosY
    New PosZ
    CoxaFeetDist
    IKSW
    IKA1
    IKA2
    TAngle
    IKTibiaAngle
    IKFemurAngle
    IKCoxaAngle

    0.0
    0.0
    0.0
    0.0

    0.0
    0.0
    0.0
    0.0

    0.0
    0.0
    0.0
    0.0

    0.0
    0.0
    0.0
    0.0

    0.0
    0.0
    0.0
    0.0

    1
    23.50
    38.00
    40.70
    47.00
    51.66
    0.74
    0.83
    1.57
    0.00
    0.00
    60.00

    2
    47.00
    38.00
    0.00
    47.00
    51.66
    0.74
    0.83
    1.57
    0.00
    0.00
    0.00

    3
    23.50
    38.00
    -40.70
    47.00
    51.66
    0.74
    0.83
    1.57
    0.00
    0.00
    -60.00

    4
    -23.50
    38.00
    -40.70
    47.00
    51.66
    0.74
    0.83
    1.57
    0.00
    0.00
    240.00

    5
    -47.00
    38.00
    0.00
    47.00
    51.66
    0.74
    0.83
    1.57
    0.00
    0.00
    180.00

    5
    0.0
    0.0
    0.0
    1500.0
    1500.0
    1500.0

    6
    0.0
    0.0
    0.0
    1500.0
    1500.0
    1500.0

    5.0
    47.0
    38.0
    38.0
    0.0
    -12.0
    38.0
    38.0
    -12.0
    -47.0
    38.0
    0.0
    -47.0
    -47.0

    6.0
    47.0
    38.0
    38.0
    0.0
    -12.0
    38.0
    38.0
    -12.0
    -47.0
    38.0
    0.0
    -47.0
    -47.0

    -92.0
    38.0
    0.0

    -46.0
    38.0
    79.7

    6
    79.7
    -46.0
    92.0
    2.1
    0.0

    0.0
    0.0
    0.0
    0.0

    6
    -23.50
    38.00
    40.70
    47.00
    51.66
    0.74
    0.83
    1.57
    0.00
    0.00
    120.00

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