Cam Drive Step Mechanism of a Quadruped Robot

Sun, Qun; Wang, Chong; Zhao, Dongjie; Zhang, Cuihua

doi:10.1155/2014/851680

Cited by 3 publications

(2 citation statements)

References 12 publications

(14 reference statements)

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“…This way, the leg mechanism mobility is further simplified to one DOF, and the leg can generate a constant height trajectory due to the special Reuleaux triangle property. Although the cam-follower mechanism has been used in robot actuation [29], our application of the Reuleaux triangle cam-follower mechanism focuses on generating the foot trajectory with a straight-line support phase with minimum active DOFs. The angular orientation of the conjugate square is constrained via the two parallelogram mechanisms connected in series, which maintain the orientation without the use of an additional active DOF on the ankle.…”

Section: Introductionmentioning

confidence: 99%

Reuleaux Triangle–Based Two Degrees of Freedom Bipedal Robot

et al. 2021

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This paper presents the design, modeling, analysis, and experimental results of a novel bipedal robotic system that utilizes two interconnected single degree-of-freedom (DOF) leg mechanisms to produce stable forward locomotion and steering. The single DOF leg is actuated via a Reuleaux triangle cam-follower mechanism to produce a constant body height foot trajectory. Kinematic analysis and dimension selection of the Reuleaux triangle mechanism is conducted first to generate the desired step height and step length. Leg sequencing is then designed to allow the robot to maintain a constant body height and forward walking velocity. Dynamic simulations and experiments are conducted to evaluate the walking and steering performance. The results show that the robot is able to control its body orientation, maintain a constant body height, and achieve quasi-static locomotion stability.

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Section: Introductionmentioning

confidence: 99%

Reuleaux Triangle–Based Two Degrees of Freedom Bipedal Robot

et al. 2021

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“…The study [18] is focused on the walking mechanism design of a quadruped robot and it covers the studies in the following areas: introducing the basic concept of quadruped robot walking and analysing typical quadruped walking characteristics, the kinematic bone structures, and step sequences; investigating the mechanical theories of the quadruped robot walking mechanism and selecting the required control parameters; building the three-dimensional model of the quadruped robot walking mechanism, developing a prototype machine, initially testing walking performance and improving the system design. Conclusion is that more attention should be given to the optimal layout design of the mechanical components and to better stabilize the gravity centre of the system for faster walking, as well as dynamics simulation.…”

Section: Introductionmentioning

confidence: 99%

Software modeling of multi-degree-of-freedom motion system using matrices

Mikić

Desnica

Radivojević

et al. 2017

J Braz. Soc. Mech. Sci. Eng.

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robot system, occupies a number of positions necessary to carry out the task. Thus the position of the mechanical system is determined by a set of internal coordinates that determine the movement of the joints. It is understood that the movement is a requirement that each of the coordinates governed by its law determines the position of the robot movement, through the so-called internal and external coordinates. It also determines the way of conversion of coordinates from one movement to another, or the application of equations to solve the kinematics problems of robots (robots determine the vector segments, segment positioning, angle and line speed, angle and line acceleration). The movement of the joints is achieved with the use of an motor, which allows only rotation movement. By applying the static equilibrium of the centrer of gravity of the robots, a part of the research of an anthropomorphic robot with 18 degrees of freedom, allowing the development of a mechatronic system, whose results allow the movement of the robot position in stages, is carried out. The largest part of the investigation described in the paper was performed on a computer, applying powerful software. Keywords Robot body step • Joint • The movement of the robot • The transformations matrix • Software modeling List of symbols r Position vector r i Position vector i-th segment r D Vector points D r (0) D Position vector of point D the immobile coordinate system r S i Joint position vector S i i-th segment r (0) S i Initial joint position vector S i the immobile coordinate system r (0) S n Vector sum of the joint segments S n

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