Kinematics Analysis and Simulation of a Quadruped Robot

Xue Wen Rong; Yi Bin Li; Jiu Hong Ruan; Hong Jun Song

doi:10.4028/www.scientific.net/AMM.26-28.517

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 26-28Kinematics Analysis and Simulation of a Quadruped...

Kinematics Analysis and Simulation of a Quadruped Robot

Abstract:

This paper presents the mechanical configuration of a quadruped robot with 4 rotary joints per leg firstly. All joints of the robot are activated by 16 identical hydraulic servo cylinders. Then it gives the forward and inverse kinematic equations of one leg with D-H transformation matrix. Furthermore, it also gives the jacobian matrix of the legs. The jacobian matrix establishes the relationships between the angle velocities of the 4 joints of the supporting leg and the moving velocity of the robot trunk. Lastly, a simple trot gait simulation is given based on MSC.ADAMS under the assumption that there are no slippages between the supporting feet and the ground.

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Periodical:

Applied Mechanics and Materials (Volumes 26-28)

Pages:

517-522

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.26-28.517

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Online since:

June 2010

Authors:

Xue Wen Rong, Yi Bin Li, Jiu Hong Ruan, Hong Jun Song

Keywords:

D-H Transformation, Jacobian Matrix, MSC Adams, Quadruped Robot

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