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Modular and Transformable Six‐Legged Robot: Mathematical Modeling.

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Title: Modular and Transformable Six‐Legged Robot: Mathematical Modeling.
Authors: Juárez-Campos, Ignacio1 (AUTHOR) ignacio.juarez@umich.mx, Arroyo-Piñón, Ricardo Estebané1 (AUTHOR), Dumic, Emil1 (AUTHOR) edumic@unin.hr
Source: Journal of Engineering (2314-4912). 12/28/2025, Vol. 2025, p1-27. 27p.
Subjects: Mathematical models, Mechanical engineering, Robots, Kinematic chains, Gait in animals
Abstract: A transformable limb system is a single‐degree‐of‐freedom linkage connecting three legs of a hexapod, comprising two identical three‐legged platforms. These legs are based on the Peaucellier–Lipkin mechanism. The group of legs attached to the same platform adjusts its movement based on the all‐or‐nothing postures of the transformable limb system. In one posture, the tripod is configured for straight‐path walking, while in the other, it is set to rotate around a vertical axis passing through its center. Additionally, both tripods are linked by a synchronization device that coordinates support and flight phases according to the tripod gait. The robot′s mechanical design was developed to minimize the number of motors, taking into account its unique leg structure. Each leg′s setup involves several links forming a closed kinematic chain, requiring a complex mechanism. This makes it difficult to directly fit multiple motors into the leg for mobility. Therefore, it is essential to reduce the motor count in the leg while allowing it to transmit motion through a mechanism located away from the leg. This remote mechanism is the transformable limb system. The main contribution of the article is to explain the operating principle of the robot′s mechanics, which significantly reduces the number of motors needed—eliminating the necessity for multiple motors within the complex Peaucellier–Lipkin‐based leg—and to present the mathematical model that governs its movement. [ABSTRACT FROM AUTHOR]
Copyright of Journal of Engineering (2314-4912) is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: Modular and Transformable Six‐Legged Robot: Mathematical Modeling.
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  Data: <searchLink fieldCode="AR" term="%22Juárez-Campos%2C+Ignacio%22">Juárez-Campos, Ignacio</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> ignacio.juarez@umich.mx</i><br /><searchLink fieldCode="AR" term="%22Arroyo-Piñón%2C+Ricardo+Estebané%22">Arroyo-Piñón, Ricardo Estebané</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Dumic%2C+Emil%22">Dumic, Emil</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> edumic@unin.hr</i>
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  Data: <searchLink fieldCode="JN" term="%22Journal+of+Engineering+%282314-4912%29%22">Journal of Engineering (2314-4912)</searchLink>. 12/28/2025, Vol. 2025, p1-27. 27p.
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  Data: <searchLink fieldCode="DE" term="%22Mathematical+models%22">Mathematical models</searchLink><br /><searchLink fieldCode="DE" term="%22Mechanical+engineering%22">Mechanical engineering</searchLink><br /><searchLink fieldCode="DE" term="%22Robots%22">Robots</searchLink><br /><searchLink fieldCode="DE" term="%22Kinematic+chains%22">Kinematic chains</searchLink><br /><searchLink fieldCode="DE" term="%22Gait+in+animals%22">Gait in animals</searchLink>
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  Data: A transformable limb system is a single‐degree‐of‐freedom linkage connecting three legs of a hexapod, comprising two identical three‐legged platforms. These legs are based on the Peaucellier–Lipkin mechanism. The group of legs attached to the same platform adjusts its movement based on the all‐or‐nothing postures of the transformable limb system. In one posture, the tripod is configured for straight‐path walking, while in the other, it is set to rotate around a vertical axis passing through its center. Additionally, both tripods are linked by a synchronization device that coordinates support and flight phases according to the tripod gait. The robot′s mechanical design was developed to minimize the number of motors, taking into account its unique leg structure. Each leg′s setup involves several links forming a closed kinematic chain, requiring a complex mechanism. This makes it difficult to directly fit multiple motors into the leg for mobility. Therefore, it is essential to reduce the motor count in the leg while allowing it to transmit motion through a mechanism located away from the leg. This remote mechanism is the transformable limb system. The main contribution of the article is to explain the operating principle of the robot′s mechanics, which significantly reduces the number of motors needed—eliminating the necessity for multiple motors within the complex Peaucellier–Lipkin‐based leg—and to present the mathematical model that governs its movement. [ABSTRACT FROM AUTHOR]
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  Data: <i>Copyright of Journal of Engineering (2314-4912) is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1155/je/4678902
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        Text: English
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      – SubjectFull: Mechanical engineering
        Type: general
      – SubjectFull: Robots
        Type: general
      – SubjectFull: Kinematic chains
        Type: general
      – SubjectFull: Gait in animals
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            NameFull: Arroyo-Piñón, Ricardo Estebané
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              Text: 12/28/2025
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              Y: 2025
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