Abstract
Kinematic Modeling and Analysis of a Walking Machine (Robot) Leg Mechanism on a Rough Terrain
Highlights
The interest in using robots that can mimic the natural motions of animals and insects to develop the robots that can improve productivity, safety, flexibility, controllability and accuracy, has significantly increased and is becoming more popular
This paper focuses on study of kinematic synthesis and analysis of the leg mechanism in a walking robot for a rough terrain
SolidWorks motion analysis was used to determine the response of the walking machine leg in terms of displacement, velocity and acceleration based on the input provided
Summary
The interest in using robots that can mimic the natural motions of animals and insects to develop the robots that can improve productivity, safety, flexibility, controllability and accuracy, has significantly increased and is becoming more popular. Denavit and Hartenberg [6] suggested that it is imaginable to use four parameters to achieve kinematic analysis of robots in multi-degree of freedom for the first time, in which links are connected by rotary or prismatic joints This DH mechanism (depicted in Fig. 1) is used to represent and model the leg mechanism and drive its equation of motion. The forward kinematic analysis is conducted to determine the position and orientation of the end points of the leg that touch the ground relative to the base frame of the walking robot This is done in terms of the joint variables, which are the link extensions in the case of sliding or prismatic joint, and the angle between the links in the case of rotational or revolute joints.
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