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

  • 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

Abstrakt

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

Opublikowane
2016-08-21
Numer
Tom 68 Nr 3 (2016)
Dział
Articles