DIRECT KINEMATICS ANALYSIS OF CRAWL GAIT FOR A QUADRUPED ROBOT

2003 ◽  
Vol 39 (02) ◽  
pp. 8 ◽  
Author(s):  
Xuedong Chen
Keyword(s):  
Quadruped Robot ◽  
Kinematics Analysis ◽  
Direct Kinematics

Kinematics Analysis of a Parallel Robotic Manipulator

2010 ◽  
Vol 29-32 ◽  
pp. 956-960
Author(s):  
Xi Guang Huang ◽  
Guang Pin He ◽  
Duan Ling Li
Keyword(s):  
Algebraic Method ◽  
Robotic Manipulator ◽  
Kinematics Analysis ◽  
Analysis Problem ◽  
Numerical Example ◽  
Univariate Polynomial ◽  
Complete Sets ◽  
Direct Kinematics

The parallel robotic manipulator has attracted many researchers’ attention and it also has growing applications to different areas. In this paper an algebraic method for solving the direct kinematics analysis problem for a parallel robotic manipulator. Based on the presented algebraic method, the problem is derived into a 40th degree univariate polynomial. All complete sets of 40 solutions to the problem are obtained. The proposed method is exemplified by a numerical example.

scholarly journals The Kinematics Analysis and Configuration Optimize of Quadruped Robot

2014 ◽  
Vol 6 (1) ◽  
pp. 1685-1690 ◽  
Author(s):  
Jinrong Zhang ◽  
Chenxi Wang ◽  
Jianhua Zhang
Keyword(s):  
Quadruped Robot ◽  
Kinematics Analysis

A novel 4-RRCR parallel mechanism based on screw theory and its kinematics analysis

2012 ◽  
Vol 227 (9) ◽  
pp. 2039-2048 ◽  
Author(s):  
Sheng Guo ◽  
Congzhe Wang ◽  
Haibo Qu ◽  
Yuefa Fang
Keyword(s):  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Screw Theory ◽  
Degree Of Freedom ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Elimination Method ◽  
Direct Kinematics

In this article, a novel 4-RRCR parallel mechanism is introduced based on screw theory, and its kinematics and singularity are studied systematically. First, the degree of freedom analysis is performed using the screw theory. The formulas for solving the inverse and direct kinematics are derived. Second, a recursive elimination method is proposed to solve the Jacobian matrix based on the algebra operation of reciprocal product. Then, three kinds of singularity, i.e. limb, platform, and actuation singularities are analyzed. Finally, the analysis proves that the proposed mechanism possesses two advantages of simple forward kinematics and no platform singularity.

Kinematics Analysis and Simulation of a Quadruped Robot

2010 ◽  
Vol 26-28 ◽  
pp. 517-522 ◽  
Author(s):  
Xue Wen Rong ◽  
Yi Bin Li ◽  
Jiu Hong Ruan ◽  
Hong Jun Song
Keyword(s):  
Jacobian Matrix ◽  
Inverse Kinematic ◽  
Quadruped Robot ◽  
Transformation Matrix ◽  
Kinematics Analysis ◽  
Gait Simulation ◽  
Trot Gait ◽  
Hydraulic Servo

This paper presents the mechanical configuration of a quadruped robot with 4 rotary joints per leg firstly. All joints of the robot are activated by 16 identical hydraulic servo cylinders. Then it gives the forward and inverse kinematic equations of one leg with D-H transformation matrix. Furthermore, it also gives the jacobian matrix of the legs. The jacobian matrix establishes the relationships between the angle velocities of the 4 joints of the supporting leg and the moving velocity of the robot trunk. Lastly, a simple trot gait simulation is given based on MSC.ADAMS under the assumption that there are no slippages between the supporting feet and the ground.

Study on Kinematics-Based Symbolic Computation–Driven Quadruped Robot Gait Simulation System

2011 ◽  
Vol 480-481 ◽  
pp. 1469-1474
Author(s):  
Hong Jun Song ◽  
Xue Wen Rong ◽  
Yi Bin Li ◽  
Jiu Hong Ruan
Keyword(s):  
Symbolic Computation ◽  
Quadruped Robot ◽  
Simulation System ◽  
Kinematics Analysis ◽  
Line Planning ◽  
Gait Simulation ◽  
Gait Planning ◽  
On Line ◽  
Gait Study

The paper presents a dedicated kinematics-based simulation system for quadruped robot gait study, named as TQRSS. The system employs Ginac’s symbolic computation technology, making it possible on-line planning and help concentrate on robot gait planning and parameter adjusting. The Taishan quadruped robot’s kinematics analysis is also presented.

scholarly journals Closed-Form Direct Kinematics Solution of a New Parallel Minimanipulator

1994 ◽  
Vol 116 (4) ◽  
pp. 1141-1147 ◽  
Author(s):  
F. Tahmasebi ◽  
L.-W. Tsai
Keyword(s):  
Closed Form ◽  
Inverse Kinematics ◽  
Kinematics Analysis ◽  
Degree Polynomial ◽  
Half Angle ◽  
Kinematic Inversion ◽  
Plane Passing ◽  
Moving Platform ◽  
Six Degree Of Freedom ◽  
Direct Kinematics

Closed-form direct kinematics solution of a new three-limbed six-degree-of-freedom minimanipulator is presented. Five-bar linkages and inextensible limbs are used in synthesis of the minimanipulator to improve its positional resolution and stiffness. All of the minimanipulator actuators are base-mounted. Kinematic inversion is used to reduce the direct kinematics of the mimimanipulator to an eighth-degree polynomial in the square of tangent of half-angle between one of the limbs and the moving platform. Hence, the maximum number of assembly configurations for the minimanipulator is sixteen. Furthermore, it is proved that the sixteen solutions are eight pairs of reflected configurations with respect to the plane passing through the lower ends of the three limbs. A numerical example is also presented and the results are verified by an inverse kinematics analysis.

Kinematics Analysis of a Quadruped Robot

2010 ◽  
Vol 43 (18) ◽  
pp. 261-266 ◽  
Author(s):  
Alain Segundo Potts ◽  
Jose Jaime da Cruz
Keyword(s):  
Quadruped Robot ◽  
Kinematics Analysis
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