Mechanical design of the legs of hydraulically actuated quadruped bionic robot

Xin Li; Junyao Gao; Xingguang Duan; Qiang Huang; Hui Li; Huaxin Liu; Wenxue Zhao; Zhe Xu; Yi Liu; Wentao Sun

doi:10.1109/ICCME.2013.6548325

Mechanical design of the legs of hydraulically actuated quadruped bionic robot

Xin Li, Junyao Gao^*, Xingguang Duan, Qiang Huang, Hui Li, Huaxin Liu, Wenxue Zhao, Zhe Xu, Yi Liu, Wentao Sun

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	2013 ICME International Conference on Complex Medical Engineering, CME 2013
Pages	626-632
Number of pages	7
DOIs	https://doi.org/10.1109/ICCME.2013.6548325
Publication status	Published - 2013
Event	2013 7th ICME International Conference on Complex Medical Engineering, CME 2013 - Beijing, China Duration: 25 May 2013 → 28 May 2013

Publication series

Name	2013 ICME International Conference on Complex Medical Engineering, CME 2013

Conference

Conference	2013 7th ICME International Conference on Complex Medical Engineering, CME 2013
Country/Territory	China
City	Beijing
Period	25/05/13 → 28/05/13

Keywords

hydraulic quadruped robot
structural parameters
the output force of the hydraulic cylinder

Access to Document

10.1109/ICCME.2013.6548325

Cite this

Li, X., Gao, J., Duan, X., Huang, Q., Li, H., Liu, H., Zhao, W., Xu, Z., Liu, Y., & Sun, W. (2013). Mechanical design of the legs of hydraulically actuated quadruped bionic robot. In 2013 ICME International Conference on Complex Medical Engineering, CME 2013 (pp. 626-632). Article 6548325 (2013 ICME International Conference on Complex Medical Engineering, CME 2013). https://doi.org/10.1109/ICCME.2013.6548325

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title = "Mechanical design of the legs of hydraulically actuated quadruped bionic robot",

abstract = "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.",

keywords = "hydraulic quadruped robot, structural parameters, the output force of the hydraulic cylinder",

author = "Xin Li and Junyao Gao and Xingguang Duan and Qiang Huang and Hui Li and Huaxin Liu and Wenxue Zhao and Zhe Xu and Yi Liu and Wentao Sun",

year = "2013",

doi = "10.1109/ICCME.2013.6548325",

language = "English",

isbn = "9781467329699",

series = "2013 ICME International Conference on Complex Medical Engineering, CME 2013",

pages = "626--632",

booktitle = "2013 ICME International Conference on Complex Medical Engineering, CME 2013",

note = "2013 7th ICME International Conference on Complex Medical Engineering, CME 2013 ; Conference date: 25-05-2013 Through 28-05-2013",

}

Li, X, Gao, J , Duan, X , Huang, Q , Li, H, Liu, H, Zhao, W, Xu, Z, Liu, Y & Sun, W 2013, Mechanical design of the legs of hydraulically actuated quadruped bionic robot. in 2013 ICME International Conference on Complex Medical Engineering, CME 2013., 6548325, 2013 ICME International Conference on Complex Medical Engineering, CME 2013, pp. 626-632, 2013 7th ICME International Conference on Complex Medical Engineering, CME 2013, Beijing, China, 25/05/13. https://doi.org/10.1109/ICCME.2013.6548325

Mechanical design of the legs of hydraulically actuated quadruped bionic robot. / Li, Xin; Gao, Junyao ; Duan, Xingguang et al.
2013 ICME International Conference on Complex Medical Engineering, CME 2013. 2013. p. 626-632 6548325 (2013 ICME International Conference on Complex Medical Engineering, CME 2013).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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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

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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

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Mechanical design of the legs of hydraulically actuated quadruped bionic robot

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