Kinematics Analysis of Four-Legged Walking Robots for Grabbing Object

Abstract:

Development of integrated hand-foot function is the inevitable choice for the practical application of multi-legged robots. In this paper, a new type of robot which has the structure of four-legged walking robot based on hand-foot-integration is introduced. The image system is installed in the body of the robot, which is used to direct the robot to complete grabbing object. Kinematics relations of grasping states of robot are described. The inverse kinematic is analyzed in details. Firstly, the structure of the robot is introduced. Secondly, the kinematics relation of serial manipulator with grasping function is researched. Finally, the inverse kinematics of robot in grasping object is obtained. The relevant formula is deduced in this paper, and the formula expression is given. The analysis process is last verified through a numerical example. The model can be used for motion control of robot.

• Periodical: Applied Mechanics and Materials (Volumes 220-223)
• Pages: 1262-1266
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.220-223.1262
• Online since: November 2012
• Authors: Jing Chao Zou, Liang Wen Wang, Chuan Peng Wang, Wei Hong Chen
• Keywords: Four-Legged Walking Robot, Grabbing Object, Integrated Hand-Foot, Inverse Kinematics Calculation

References

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