JOURNAL OF LIGHT INDUSTRY

CN 41-1437/TS  ISSN 2096-1553

Volume 31 Issue 2
March 2016
Article Contents
WANG Liang-wen, LI Qun-tao, WANG Xin-jie, et al. Digital model and application of the reptile-like quadruped bionic robot[J]. Journal of Light Industry, 2016, 31(2): 87-96. doi: 10.3969/j.issn.2096-1553.2016.2.012
Citation: WANG Liang-wen, LI Qun-tao, WANG Xin-jie, et al. Digital model and application of the reptile-like quadruped bionic robot[J]. Journal of Light Industry, 2016, 31(2): 87-96. doi: 10.3969/j.issn.2096-1553.2016.2.012 shu

Digital model and application of the reptile-like quadruped bionic robot

  • Received Date: 2015-03-02
  • Because of redundant driving characteristics of the reptile-like quadruped bionic robot, displacement analysis process of forward kinematics was very difficult.The modeling technology of digital model for the reptile-like quadruped bionic robot base on the quadruped bionic robot configuration was as follows: frame size and active driving angle were driven by parameterized model, to make the robot move to the corresponding position.The coordinate system was built in preliminary sketch after the position and posture of robot were confirmed.The parameters were measured by SolidWorks measuring functions and then the position and posture result of robot were obtained through combining homogeneous matrices.When the method was applied to analyze kinematics of robot, rather than the derivation of detailed kinematics formula, only the active constraint and passive constraint relationship among the parts of robot was required.The idea of the method could be used widely for kinematics analysis of redundant driving structure.
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