A Dynamic Analysis Based on MBD ADAMS Program for a Variant of Quadruped Robot

Abstract:

For stability and impact reaction forces assessment of a quadruped robot during walking, a dynamic analysis is considered. For this purpose, a variant of a quadruped robot based on Jansen mechanism is presented. For interpreting the influence of the reaction forces from the ground during walking, the analysis was conducted with help of ADAMS software using a 3D model of the robot. Material specifications, forces and moments acting in the robot structure were considered. Graphical results obtained regarding the ground reaction forces are displayed. Also a reduced mass moment of inertia at the crankshaft is taken into consideration based on Lagrange motion equation and generalized coordinates.

• Periodical: Applied Mechanics and Materials (Volume 823)
• Pages: 429-434
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.823.429
• Online since: January 2016
• Authors: Florina Pop*, Erwin Christian Lovasz, Valer Dolga, Marco Ceccarelli, Dan Mărgineanu, Cristian Pop
• Keywords: Dynamics, Lagrange Equation, Leg Mechanism, Simulation, Walking Robot

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