Design and Kinematics Analysis of Dual-motor Driven Six-legged Upright Walking Mechanism
A kind of dual-motor driven walking mechanism which consist of six upright walking legs made up of connecting rods is designed. Firstly,through analyzing the principle of walking leg mechanism,the simple planar four-bar linkage is decomposed by unilateral walking leg mechanism. Based on complex vect...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2018-01-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.10.020 |
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| author | Zhang Jiulei |
| author_facet | Zhang Jiulei |
| author_sort | Zhang Jiulei |
| collection | DOAJ |
| description | A kind of dual-motor driven walking mechanism which consist of six upright walking legs made up of connecting rods is designed. Firstly,through analyzing the principle of walking leg mechanism,the simple planar four-bar linkage is decomposed by unilateral walking leg mechanism. Based on complex vector method,the kinematical equation is established. According to the kinematics equation,the analysis of the position of the movement,the limit position is find out,the position map of the walking leg mechanism is drawn,the movement space of the walking leg is determined,and whether the interference occurs is judged. Finally,a prototype is built to verify the feasibility of the design scheme. The prototype test results show that walking leg mechanism can meet to working requirements of six-legged walking robot,this design scheme is feasible. The basis for the next optimization design and development of new walking robots is provided,it has important research significance. |
| format | Article |
| id | doaj-art-200c8d97fefd4b3c8251fe48bdd29aa3 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-200c8d97fefd4b3c8251fe48bdd29aa32025-01-10T14:40:39ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-014210611129938998Design and Kinematics Analysis of Dual-motor Driven Six-legged Upright Walking MechanismZhang JiuleiA kind of dual-motor driven walking mechanism which consist of six upright walking legs made up of connecting rods is designed. Firstly,through analyzing the principle of walking leg mechanism,the simple planar four-bar linkage is decomposed by unilateral walking leg mechanism. Based on complex vector method,the kinematical equation is established. According to the kinematics equation,the analysis of the position of the movement,the limit position is find out,the position map of the walking leg mechanism is drawn,the movement space of the walking leg is determined,and whether the interference occurs is judged. Finally,a prototype is built to verify the feasibility of the design scheme. The prototype test results show that walking leg mechanism can meet to working requirements of six-legged walking robot,this design scheme is feasible. The basis for the next optimization design and development of new walking robots is provided,it has important research significance.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.10.020Walking mechanismSix-leggedLink mechanismKinematics analysis |
| spellingShingle | Zhang Jiulei Design and Kinematics Analysis of Dual-motor Driven Six-legged Upright Walking Mechanism Jixie chuandong Walking mechanism Six-legged Link mechanism Kinematics analysis |
| title | Design and Kinematics Analysis of Dual-motor Driven Six-legged Upright Walking Mechanism |
| title_full | Design and Kinematics Analysis of Dual-motor Driven Six-legged Upright Walking Mechanism |
| title_fullStr | Design and Kinematics Analysis of Dual-motor Driven Six-legged Upright Walking Mechanism |
| title_full_unstemmed | Design and Kinematics Analysis of Dual-motor Driven Six-legged Upright Walking Mechanism |
| title_short | Design and Kinematics Analysis of Dual-motor Driven Six-legged Upright Walking Mechanism |
| title_sort | design and kinematics analysis of dual motor driven six legged upright walking mechanism |
| topic | Walking mechanism Six-legged Link mechanism Kinematics analysis |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.10.020 |
| work_keys_str_mv | AT zhangjiulei designandkinematicsanalysisofdualmotordrivensixleggeduprightwalkingmechanism |