Computer Aided Geometric Method of Forward Kinematics Analysis of Multi-Legged Walking Robots

Liang Wen Wang; Wei Gang Tang; Xin Jie Wang; Xue Wen Chen

doi:10.4028/www.scientific.net/AMR.317-319.829

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 317-319Computer Aided Geometric Method of Forward...

Computer Aided Geometric Method of Forward Kinematics Analysis of Multi-Legged Walking Robots

Abstract:

The high order equation causing by analytic method in multi-legged robot forward kinematics analysis may have imaginary root, repeated root, extraneous root or even lost solution. A system based on the theory of computer aided geometric method is proposed. Consideration with the internal structural constraint relations of multi-legged walking robots, the solidworks model was constructed and Visual Basic develop platform was adopted to fulfill the secondary development of solidworks. A system of forward kinematics analysis of multi-legged walking robots is established. The example validates that the system is simple and effective for all reptiles-like quadruped walking robot.

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Periodical:

Advanced Materials Research (Volumes 317-319)

Pages:

829-834

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.317-319.829

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Online since:

August 2011

Authors:

Liang Wen Wang, Wei Gang Tang, Xin Jie Wang, Xue Wen Chen

Keywords:

Forward Kinematics, Geometric Method, Multi-Legged Walking Robot, Secondary Development of Solidworks

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References

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