Kinematics Simulation of a Hybrid Leg Structure of a Novel Quadruped Robot

Abstract

This paper presents a quadruped robot of novel structure, which has four hybrid legs. A research on the hybrid legs kinematics of the quadruped was conducted to analyse the motion characteristics of it. First, the coordinated systems were established according to the characteristics of spatial mechanism. And by using the coordinate transformation method, kinematics reverse solution was obtained. Several typical trajectories have been planned include rotations around Xã€Yã€Z axes and leg-lift action and the drive angle data were calculated for each movement based on MATLAB. The analysis and simulation of the mechanism were made to verify the kinematics reverse solution based on the ADAMS simulation model. The simulation results proved that the above kinematics reverse solution is correct. In addition, the dynamic characteristics of the driving force were obtained to provide guidance for selection of the motor.