Test bench built for the identification of the Szabad(ka)-II hexapod robot leg prototypes

Abstract

The goal of this research is to build a hexapod walking robot with an optimized mechanical structure and control system. To achieve this goal, a validated model is essential. An important and complex part of the validation procedure is to determine the properties of a physical leg. To solve this problem, a test bench was designed and built in order to identify these parameters. With the analyses of the data measured with the test bench it was possible to determine the spring constant, the damping ratio and the natural frequency of the tested legs.