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The scope of this paper is to present a novel method of actuating the legs of a walking parallel kinematic machine tool (WalkingHex) such that the upper spherical joint can be actively driven while walking and remain a free, passive joint while performing machining operations. Different concepts for the number of Degrees of Freedom (DoF) and methods for actuating the chosen concept are presented,...
The scope of this paper is to present a novel gait methodology in order to obtain an efficient walking capability for an original walking free-leg hexapod structure (WalkingHex) of tri-radial symmetry. Torque in the upper (actuated) spherical joints and stability margin analyses are obtained based on a constraint-driven gait generator. Therefore, the kinematic information of foot pose and angular...
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