Kinematics Modeling and Analysis of a Quadruped Bionic Horse Robot Driven by a Cam-link Mechanism
A quadruped walking robot with a bionic horse configuration for equestrian-assisted treatment is presented. A single leg system of the robot is driven by a cam-linkage combination mechanism. On the basis of introducing the structure and working principle of the quadruped bionic horse robot， the kine...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.01.013 |
| _version_ | 1797819644068757504 |
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| author | Xu Yang Ruolan Wang Liangwen Wang Liwei Li Tuanhui Wang |
| author_facet | Xu Yang Ruolan Wang Liangwen Wang Liwei Li Tuanhui Wang |
| author_sort | Xu Yang |
| collection | DOAJ |
| description | A quadruped walking robot with a bionic horse configuration for equestrian-assisted treatment is presented. A single leg system of the robot is driven by a cam-linkage combination mechanism. On the basis of introducing the structure and working principle of the quadruped bionic horse robot， the kinematics modeling and analysis of the robot are carried out. The kinematics equations of each mechanism are established by loop vector method， and Newton iteration method is used to solve the nonlinear displacement equations. The Matlab is used to develop a unified program to solve the displacement， velocity and acceleration of the moving leg of the robot. By an example， the characteristics of the endpoint displacement and acceleration of the moving leg for the robot driven at the same speed are analyzed. The relevant research lays a foundation for the subsequent optimizing the performance of the robot. |
| first_indexed | 2024-03-13T09:25:41Z |
| format | Article |
| id | doaj.art-e47e12c682214bfd86a4a660dab17100 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:25:41Z |
| publishDate | 2021-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-e47e12c682214bfd86a4a660dab171002023-05-26T09:36:25ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-01-0145778429798601Kinematics Modeling and Analysis of a Quadruped Bionic Horse Robot Driven by a Cam-link MechanismXu YangRuolan WangLiangwen WangLiwei LiTuanhui WangA quadruped walking robot with a bionic horse configuration for equestrian-assisted treatment is presented. A single leg system of the robot is driven by a cam-linkage combination mechanism. On the basis of introducing the structure and working principle of the quadruped bionic horse robot， the kinematics modeling and analysis of the robot are carried out. The kinematics equations of each mechanism are established by loop vector method， and Newton iteration method is used to solve the nonlinear displacement equations. The Matlab is used to develop a unified program to solve the displacement， velocity and acceleration of the moving leg of the robot. By an example， the characteristics of the endpoint displacement and acceleration of the moving leg for the robot driven at the same speed are analyzed. The relevant research lays a foundation for the subsequent optimizing the performance of the robot.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.01.013Quadruped robot;Bionic horse configuration;Cam-link combination mechanism;Kinematics modeling;Analysis |
| spellingShingle | Xu Yang Ruolan Wang Liangwen Wang Liwei Li Tuanhui Wang Kinematics Modeling and Analysis of a Quadruped Bionic Horse Robot Driven by a Cam-link Mechanism Jixie chuandong Quadruped robot;Bionic horse configuration;Cam-link combination mechanism;Kinematics modeling;Analysis |
| title | Kinematics Modeling and Analysis of a Quadruped Bionic Horse Robot Driven by a Cam-link Mechanism |
| title_full | Kinematics Modeling and Analysis of a Quadruped Bionic Horse Robot Driven by a Cam-link Mechanism |
| title_fullStr | Kinematics Modeling and Analysis of a Quadruped Bionic Horse Robot Driven by a Cam-link Mechanism |
| title_full_unstemmed | Kinematics Modeling and Analysis of a Quadruped Bionic Horse Robot Driven by a Cam-link Mechanism |
| title_short | Kinematics Modeling and Analysis of a Quadruped Bionic Horse Robot Driven by a Cam-link Mechanism |
| title_sort | kinematics modeling and analysis of a quadruped bionic horse robot driven by a cam link mechanism |
| topic | Quadruped robot;Bionic horse configuration;Cam-link combination mechanism;Kinematics modeling;Analysis |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.01.013 |
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