Sajad Moradian, Karim Mohammadi, Mohssen H. Kaiedan, and Mehdi Moradian
hexapod robot, inward model, outward model, reliability
Fault events, for example a locked joint in one or more of the robot’s legs, disturb continued locomotion of the hexapod. In this article it is shown that by increasing the number of joints in order to increase the mobility, the stability margin in the robot’s legs will be decreased. The increased number of joints used in the legs causes an increase in the failure rate which reduces the reliability of the robot’s legs. In this article reliability has been studied from two viewpoints: 1. Inward model of robots leg 2. Outward model of robots leg By studying these two views, the final results of examining the reliability in the robot’s leg will be shown through mathematical relations and graphical simulations. Finally it will be shown that reliability is an important factor in the design of legged robots and is one of the limiting factors in choosing the optimal number of joints in robot’s legs.
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