COMPUTER ANALYSIS OF INSECT-LIKE ROBOT LEG STRUCTURE – PART 2 – KINEMATIC AND DYNAMIC ANALYSES

Dominik Wojtkowiak; Krzysztof Talaśka; Ireneusz Malujda

Dominik Wojtkowiak Poznan University of Technology, Faculty of Machines and Transport
Krzysztof Talaśka Poznan University of Technology, Faculty of Machines and Transport
Ireneusz Malujda Poznan University of Technology, Faculty of Machines and Transport

Keywords: walking robot, hexapod, quadruped, pedipulator, kinematic analysis

Abstract

The aim of this paper is to present the effect of a chosen gait algorithm on the forward speed of the robot and on the joint load values. To this end a motion simulation study was carried out using Solidworks software package, comprising kinematic and dynamic analyses. It also presents the forward and reverse kinematics solutions for the insect-like walking robot leg.

Keywords:
walking robot, hexapod, quadruped, pedipulator, kinematic analysis