TY - GEN
T1 - Mechanical design of the legs of hydraulically actuated quadruped bionic robot
AU - Li, Xin
AU - Gao, Junyao
AU - Duan, Xingguang
AU - Huang, Qiang
AU - Li, Hui
AU - Liu, Huaxin
AU - Zhao, Wenxue
AU - Xu, Zhe
AU - Liu, Yi
AU - Sun, Wentao
PY - 2013
Y1 - 2013
N2 - This paper discusses the design of the mechanical structure of a quadruped robot and a three-dimensional simulation model is built under Adams simulating the mechanism's motion to capture the dynamic characteristics of the quadruped robot. This paper analyses the effect of the length of legs on the walking structure from different aspects: its movement speed, capability of climbing obstacles and the workspace of its foot end. In addition, to achieve the optimization target of balancing the output force of each hydraulic cylinder, the paper establishes a mathematical model under required constraints working out the lever members that accommodated with the structure. Synthesizing all these factors, the most satisfied structural parameters of the autonomous quadruped robot are selected.
AB - This paper discusses the design of the mechanical structure of a quadruped robot and a three-dimensional simulation model is built under Adams simulating the mechanism's motion to capture the dynamic characteristics of the quadruped robot. This paper analyses the effect of the length of legs on the walking structure from different aspects: its movement speed, capability of climbing obstacles and the workspace of its foot end. In addition, to achieve the optimization target of balancing the output force of each hydraulic cylinder, the paper establishes a mathematical model under required constraints working out the lever members that accommodated with the structure. Synthesizing all these factors, the most satisfied structural parameters of the autonomous quadruped robot are selected.
KW - hydraulic quadruped robot
KW - structural parameters
KW - the output force of the hydraulic cylinder
UR - http://www.scopus.com/inward/record.url?scp=84881492582&partnerID=8YFLogxK
U2 - 10.1109/ICCME.2013.6548325
DO - 10.1109/ICCME.2013.6548325
M3 - Conference contribution
AN - SCOPUS:84881492582
SN - 9781467329699
T3 - 2013 ICME International Conference on Complex Medical Engineering, CME 2013
SP - 626
EP - 632
BT - 2013 ICME International Conference on Complex Medical Engineering, CME 2013
T2 - 2013 7th ICME International Conference on Complex Medical Engineering, CME 2013
Y2 - 25 May 2013 through 28 May 2013
ER -