Design and Kinematics Analysis of a Bionic Mechanical Goat Hoof

Qun Zhang; Xi Lun Ding; Kun Xu; Hao Chen

doi:10.4028/www.scientific.net/AMM.461.191

Paper Titles

A Biologically Motivated Flight Control System for PAVs
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Aerodynamic Force Test on Tethered Bamboo Beetle Otidognathus davidis fair
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Bionic Flexible Wings Design of the Flapper
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Bionic Jump Mechanism Analysis Based on Locust Hind
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Design and Kinematics Analysis of a Bionic Mechanical Goat Hoof
p.191

Drag Reduction Study about Bird Feather Herringbone Riblets
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Experimental Research on a Novel Design of Variable Area Caudal Fin
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Finite Element Analysis in the Characteristics of Ostrich Foot Toenail Traveling on Sand
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High-Lift Mechanism of a Bionic Slat
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 461Design and Kinematics Analysis of a Bionic...

Design and Kinematics Analysis of a Bionic Mechanical Goat Hoof

Abstract:

Different ground environments call for corresponding foot mechanism design. As for unstructured terrain, through the analysis of goat hooves structure, a robot foot mechanism simulating the goat hooves is designed in our research. According to screw theory and generalized Kutzbach-Grübler mobility criterion, degree of freedom of the bionic goat hoof mechanism is calculated. Then forward kinematics is built based on mechanism geometry. Motion simulation is carried out to verify the algorithms of forward kinematics.