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Kinematic Modeling and Analysis of a Walking Machine (Robot) Leg Mechanism on a Rough Terrain

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Języki publikacji
EN
Abstrakty
EN
Many manmade machines and mechanisms, including robots, function based on the concept of nature-inspired design, so that they can perform their intended duties by mimicking the working mechanisms of animals and insects. Accordingly, walking machines (robots) use wheels and tracks to cross rough terrain efficiently and in a more stable way than conventional robots. Legged walking robots in particular remain in a discontinuous contact with the ground that provides them with the capability to select routes to avoid obstacles or holes. This article reports a study conducted on kinematic modelling and analysis of a walking machine (robot) leg mechanism that can operate on rough terrain. Its kinematic mechanisms were analyzed using the Denavit-Hartenberg (DH) convention approach. Symbolic computations are also implemented to parametrically optimize the motion parameters of the robot leg mechanism. The equation of motion was derived from the dynamic analysis using the Euler-Lagrange method which involves kinetic and potential energy expressions. In order to validate the performance of the robot leg mechanism and motion behaviors, the kinematic motion analysis was performed in SolidWorks and MATLAB. The leg mechanism used is effective for rough terrain areas because it is capable of walking on the terrain with different amplitudes in terms of surface roughness and aerodynamics.
Twórcy
  • Mechanical Engineering Department Mizan-Tepi University, Mizan-Tepi, Ethiopia
autor
  • Faculty of Science and Technology, University of Stavanger, N-4036 Stavanger, Norway
  • School of Mechanical Engineering, Jimma University, Ethiopia
  • Addis Ababa Science and Technology University, Ethiopia
Bibliografia
  • 1. Roennau, A., Kerscher, T. and Dillmann, R., Design and kinematics of a biologically-inspired leg for a six-legged walking machine, Proc. of the 2010 3rd IEEE RAS & EMBS Int. Conference on Biomedical Robotics and Biomechatronics, The University of Tokyo, Japan, Sept. 26–29, 2010.
  • 2. Berns, K., Ilg, W., Deck, M., Albiez, J. and Dillmann, R., Mechanical construction and computer architecture of the four-legged walking machine BISAM, IEEE/ASME Transaction on mechatronics, 4(1), 1999, 32–38.
  • 3. Collins, S.H., Wisse, M. and Ruina, A., A three-dimensional passive-dynamic walking robot with two legs and knees, The Int. Journal of Robotics Research, 20(7), 2001, 607–615.
  • 4. Sosnowski, M. and Jaskowski, J., Didactic automated station of complex kinematics, Advances in Science and Technology Research Journal, 8(21), 2014, 18–23, DOI: 10.12913/22998624.1091873.
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  • 6. Moon, F. C., History of the dynamics of machines and mechanisms from Leonardo to Timoshenko, Int. Symposium on History of Machines and Mechanisms , H.S.Yan and M.Ceccarelli, Eds. 2009
  • 7. Denavit, J. and Hartenberg, R.S., Kinematic synthesis of linkages, McGraw-Hill, Inc. NY, 1964.
  • 8. Natesan, A.K., Kinematic analysis and synthesis of four-bar mechanisms for straight line coupler curves: Rochester Institute of Technology, 1994.
  • 9. Myszka, D.H., Machines and mechanisms: Applied kinematics analysis, 4th ed., Pearson Education Inc. NJ, 2012.
  • 10. Khurimi, R.S. and Gupta, J.K. Theory of machines. 8th ed., S. Chand & Company Ltd. 2005, 1070.
  • 11. Ravani, B., Kinematics and mechanisms. In: Richard C., Ed. Engineering Handbook California: CRC Press LLC, 2000.
  • 12. Waldron, K.J. and Kinzel, G.L., Kinematics, dynamics, and design of machinery. 2nd ed., Wiley & Sons, 2001.
  • 13. Sandor, G.N. and Erdman, A.G., Advanced mechanism analysis, Prentice-Hall Int. Inc. NJ, 1984. 701.
  • 14. Manjaree, S., Kinematics and dynamics of multi-degree of freedom robotic systems using analytical and artificial intelligent techniques with experimental validation, The Northcap University, 2016.
  • 15. Spong, M.W., Hutchinson, S. and Vidyasagar, M., Robot dynamics and control. 2nd ed. 2004.
  • 16. Harrison, H.R. and Nettleto, T., Advanced engineering dynamics. Britain John Wiley & Sons Inc.; 1997.
  • 17. Yang, Ch., Ma, H. and Fu, M., Robot kinematics and dynamics modeling. Advanced Technologies in Modern Robotic Applications. Singapore: Press and Springer Science+Business Media, 2016.
  • 18. Tresnak, B.A., Forces acting on the robot during grinding. Prague, Czech Technical University, 2016.
  • 19. Siciliano, B., Sciavicco, L., Villani, L. and Oriolo, G., Robotics modeling, planning and control, Italy: Springer, 2009.
  • 20. Toreh, E.H., Shahmohammadi, M. and Khamseh, N., Kinematic and kinetic study of rescue robot by SolidWorks software. Research Journal of Applied Sciences, Engineering and Technology, 5(21), 2013, 5070–6.
Uwagi
Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-d67aa522-662e-4fce-9709-4369b9d7e0e9
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