Configuration Design and Kinematics Analysis of a New Type of a Quadruped Robot Leg Mechanism
Aiming at the low bearing capacity of the 3R series mechanical leg configuration, the leg configuration is improved, and two 3-DOF parallel leg configurations of 2R1T are proposed. A virtual prototype is built by Adams software with the same main structural dimensions, the same constraints and drive...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2023-08-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.08.011 |
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| _version_ | 1841546996775649280 |
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| author | Liu Yuntong Li Xiaodan Wang Xiaolei |
| author_facet | Liu Yuntong Li Xiaodan Wang Xiaolei |
| author_sort | Liu Yuntong |
| collection | DOAJ |
| description | Aiming at the low bearing capacity of the 3R series mechanical leg configuration, the leg configuration is improved, and two 3-DOF parallel leg configurations of 2R1T are proposed. A virtual prototype is built by Adams software with the same main structural dimensions, the same constraints and drives are added, a leg configuration is selected according to the comparison of the force of the linear actuator during loading, and the overall prototype design is completed. The leg coordinate system is established, the kinematics of the leg structure is analyzed by the vector method, the virtual prototype built by Adams software is used for simulation verification, the error between the theoretical value and the simulation value is small, and the correctness of kinematics is verified, which lays a foundation for further research and analysis. |
| format | Article |
| id | doaj-art-df894fea1add466abf680eb1d9e876dc |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2023-08-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-df894fea1add466abf680eb1d9e876dc2025-01-10T14:58:37ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392023-08-0147838940845601Configuration Design and Kinematics Analysis of a New Type of a Quadruped Robot Leg MechanismLiu YuntongLi XiaodanWang XiaoleiAiming at the low bearing capacity of the 3R series mechanical leg configuration, the leg configuration is improved, and two 3-DOF parallel leg configurations of 2R1T are proposed. A virtual prototype is built by Adams software with the same main structural dimensions, the same constraints and drives are added, a leg configuration is selected according to the comparison of the force of the linear actuator during loading, and the overall prototype design is completed. The leg coordinate system is established, the kinematics of the leg structure is analyzed by the vector method, the virtual prototype built by Adams software is used for simulation verification, the error between the theoretical value and the simulation value is small, and the correctness of kinematics is verified, which lays a foundation for further research and analysis.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.08.011Quadruped robotParallel mechanismKinematics analysisVector methodSimulation verification |
| spellingShingle | Liu Yuntong Li Xiaodan Wang Xiaolei Configuration Design and Kinematics Analysis of a New Type of a Quadruped Robot Leg Mechanism Jixie chuandong Quadruped robot Parallel mechanism Kinematics analysis Vector method Simulation verification |
| title | Configuration Design and Kinematics Analysis of a New Type of a Quadruped Robot Leg Mechanism |
| title_full | Configuration Design and Kinematics Analysis of a New Type of a Quadruped Robot Leg Mechanism |
| title_fullStr | Configuration Design and Kinematics Analysis of a New Type of a Quadruped Robot Leg Mechanism |
| title_full_unstemmed | Configuration Design and Kinematics Analysis of a New Type of a Quadruped Robot Leg Mechanism |
| title_short | Configuration Design and Kinematics Analysis of a New Type of a Quadruped Robot Leg Mechanism |
| title_sort | configuration design and kinematics analysis of a new type of a quadruped robot leg mechanism |
| topic | Quadruped robot Parallel mechanism Kinematics analysis Vector method Simulation verification |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.08.011 |
| work_keys_str_mv | AT liuyuntong configurationdesignandkinematicsanalysisofanewtypeofaquadrupedrobotlegmechanism AT lixiaodan configurationdesignandkinematicsanalysisofanewtypeofaquadrupedrobotlegmechanism AT wangxiaolei configurationdesignandkinematicsanalysisofanewtypeofaquadrupedrobotlegmechanism |