Scale optimization design and work behavior analysis of a single leg walking mechanism of quadruped robot-Reference-Cited by-同舟云学术

Scale optimization design and work behavior analysis of a single leg walking mechanism of quadruped robot

Published:2023-11-27 Issue: Volume:53 Page:97-102
ISSN:2345-0533
Container-title:Vibroengineering Procedia
language:en
Short-container-title:Vib. proced.

Author:

Han Zeguang,Cong Hao,Hao Ruiqin,Qi Qiushi,Chu Zhaolong

Abstract

A general methodology for modeling and analysis of a single leg walking mechanism of quadruped robot is presented in this paper to solve the problems of more drive elements, more complex structure and control system in existing single-leg walking mechanism. The principle scheme and scale optimization design of proposed walking mechanism are completed according to the requirements of the foot end trajectory curve and Grashof’s criterion. The models of kinematics and dynamics of presented mechanism have been built. By numerical calculation, the variations of displacement, the angular velocity and moment of the equivalent crank are discussed. The results indicate that the kinematic and dynamic properties of the optimized mechanism are better than those before optimization. Furthermore, these results provide a basis for the structural design of a single leg walking mechanism of quadruped robot.

Publisher

JVE International Ltd.

Subject

General Medicine

Link

https://www.extrica.com/article/23707/pdf

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