- Tytuł:
- Kinematic Modeling and Analysis of a Walking Machine (Robot) Leg Mechanism on a Rough Terrain
- Autorzy:
-
Terefe, Tesfaye O.
Lemu, Hirpa G
K/Mariam, Addisu
Tuli, Tadele B. - Powiązania:
- https://bibliotekanauki.pl/articles/102737.pdf
- Data publikacji:
- 2019
- Wydawca:
- Stowarzyszenie Inżynierów i Techników Mechaników Polskich
- Tematy:
-
walking machine
walking robot
kinematic analysis
motion analysis
Denavit-Hartenberg
rough terrain
maszyna krocząca
robot kroczący
analiza kinematyczna
analiza ruchu
nierówny teren - Opis:
- Many manmade machines and mechanisms, including robots, function based on the concept of nature-inspired design, so that they can perform their intended duties by mimicking the working mechanisms of animals and insects. Accordingly, walking machines (robots) use wheels and tracks to cross rough terrain efficiently and in a more stable way than conventional robots. Legged walking robots in particular remain in a discontinuous contact with the ground that provides them with the capability to select routes to avoid obstacles or holes. This article reports a study conducted on kinematic modelling and analysis of a walking machine (robot) leg mechanism that can operate on rough terrain. Its kinematic mechanisms were analyzed using the Denavit-Hartenberg (DH) convention approach. Symbolic computations are also implemented to parametrically optimize the motion parameters of the robot leg mechanism. The equation of motion was derived from the dynamic analysis using the Euler-Lagrange method which involves kinetic and potential energy expressions. In order to validate the performance of the robot leg mechanism and motion behaviors, the kinematic motion analysis was performed in SolidWorks and MATLAB. The leg mechanism used is effective for rough terrain areas because it is capable of walking on the terrain with different amplitudes in terms of surface roughness and aerodynamics.
- Źródło:
-
Advances in Science and Technology. Research Journal; 2019, 13, 3; 43-53
2299-8624 - Pojawia się w:
- Advances in Science and Technology. Research Journal
- Dostawca treści:
- Biblioteka Nauki
Artykuł