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

• Autorzy: Terefe Tesfaye O. , Lemu Hirpa G , K/Mariam Addisu , Tuli Tadele B.

Identyfikatory

DOI

10.12913/22998624/109792

• 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.

Słowa kluczowe

EN

walking machine; walking robot; kinematic analysis; motion analysis; Denavit-Hartenberg; rough terrain

PL

maszyna krocząca; robot kroczący; analiza kinematyczna; analiza ruchu; Denavit-Hartenberg; nierówny teren

• Wydawca: Lublin University of Technology ; Polish Society of Ecological Engineering (PTIE), Branch of PTIE in Lublin
• Czasopismo: Advances in Science and Technology. Research Journal
• Rocznik: 2019
• Tom: Vol. 13, no 3
• Strony: 43--53
• Opis fizyczny: Bibliogr. 20 poz., fig.

Twórcy

autor

Terefe Tesfaye O.

• Mechanical Engineering Department Mizan-Tepi University, Mizan-Tepi, Ethiopia

autor

Lemu Hirpa G

• Faculty of Science and Technology, University of Stavanger, N-4036 Stavanger, Norway

autor

K/Mariam Addisu

• School of Mechanical Engineering, Jimma University, Ethiopia

autor

Tuli Tadele B.

• Addis Ababa Science and Technology University, Ethiopia

Bibliografia

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Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).