On the Kinematic Characteristics of Walking Mechanisms of Mobile Robots with Walking Propulsion Devices

Abstract

AbstractVarious kinematic schemes of walking propulsion devices of mobile robots with different number of drives are analyzed. The errors in the implementation of the program movement of the propulsion device foot are estimated with the help transfer functions. With the use of transfer functions, matrices characterizing the specific mechanism of the mover are applied. The scalar indicator of the average accuracy of the realization of both position and speed of the foot in the program mode of movement is con-sidered. A specific “zoomorphic” propulsion device is considered and an estimate of its accuracy is given depending on the size of the links. The obtained dependences allow the formulation of the problem of optimization of geometric parameters of mechanisms.KeywordMechanism. Propulsion device. Matrix of transfer functions. Scalar criterion