Kinematics Analysis and Motion Simulation of a Quadruped Walking Robot with Parallel Leg Mechanism

2010 ◽  
Vol 4 (1) ◽  
pp. 77-85 ◽  
Author(s):  
Hongbo Wang ◽  
Zhengyan Qi ◽  
Guiling Xu ◽  
Fengfeng Xi ◽  
Guoqing Hu ◽  
...  
Keyword(s):  
Motion Simulation ◽  
Kinematics Analysis ◽  
Walking Robot ◽  
Quadruped Walking Robot ◽  
Parallel Leg Mechanism

Design and Analysis of the Quadruped Walking Robot Based on 3-RPS Parallel Mechanism

2013 ◽  
Vol 373-375 ◽  
pp. 201-205
Author(s):  
Hong Bo Wang ◽  
Yun Wang ◽  
Ling Feng Sang ◽  
Qi Fang Gu ◽  
Yong Fei Feng
Keyword(s):  
Parallel Mechanism ◽  
Theoretical Foundation ◽  
Virtual Organization ◽  
The Elderly ◽  
Search Method ◽  
Optimum Size ◽  
Walking Robot ◽  
Quadruped Walking Robot ◽  
The Disabled ◽  
Parallel Leg Mechanism

Based on the importance of the robot for the elderly and the disabled, a quadruped walking robot using 3-RPS parallel mechanism as the basic leg mechanism is proposed. The structure of the basic leg is described, and the whole structure of the quadruped walking robot is formed. Then taking the workspace of the basic leg as the standard, the optimum size parameters of the upper platform and the lower platform of the based leg are achieved. Meanwhile the workspace of the basic leg is obtained by the anti-solution search method. Taking the basic leg as analysis object and applying the virtual organization method, the kinematic expression is got. All of these analyses lay a theoretical foundation for the further study on the quadruped walking robot with parallel leg mechanism.

Kinematics and dynamics analysis of a quadruped walking robot with parallel leg mechanism

2013 ◽  
Vol 26 (5) ◽  
pp. 881-891 ◽  
Author(s):  
Hongbo Wang ◽  
Lingfeng Sang ◽  
Xing Hu ◽  
Dianfan Zhang ◽  
Hongnian Yu
Keyword(s):  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Walking Robot ◽  
Quadruped Walking Robot ◽  
Parallel Leg Mechanism

scholarly journals Development of Track-changeable Quadruped Walking Robot TITAN X-Design of Leg Driving Mechanism and Basic Experiment-

2010 ◽  
Vol 28 (7) ◽  
pp. 872-879
Author(s):  
Ryuichi Hodoshima ◽  
Yasuaki Fukumura ◽  
Hisanori Amano ◽  
Shigeo Hirose
Keyword(s):  
Driving Mechanism ◽  
Walking Robot ◽  
Basic Experiment ◽  
Quadruped Walking Robot
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