Mechatronical Approach of Analyzing One DOF Leg Mechanism in Order to Construct a Walking Robot System

Abstract:

A mechatronic integrated approach regarding the modeling, analysis and design of one DOF leg mechanism configuration is presented. This mechanism will be implemented in the structure of a walking robot and its configuration is inspired from Jansens type of walking mechanism. The trajectory shape described by the end point of the leg during a walking cycle is analyzed based upon a 2D model developed in Matlab. A mathematical model that consists in structural analysis and equations regarding three types of kinematic constraints proposed for synthesis process is briefly described.

• Periodical: Applied Mechanics and Materials (Volume 162)
• Pages: 559-566
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.162.559
• Online since: March 2012
• Authors: Florina Moldovan, Valer Dolga, Andreea Dobra
• Keywords: Legged Locomotion, Mechatronic Design, Trajectory Shape, Transmission Ratio, Virtual Prototype

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