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

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

Advances in Science and Technology. Research Journal

2019

Vol. 13, no 3

43--53

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.

Solution approaches to differential equations of mechanical system dynamics: a case study of car suspension system

Terefe Tesfaye O., Lemu Hirpa G

Advances in Science and Technology. Research Journal

2018

Vol. 12, no 2

266--273

Solution of a dynamic system is commonly demanding when analytical approaches are used. In order to solve numerically, describing the motion dynamics using differential equations is becoming indispensable. In this article, Newton’s second law of motion is used to derive the equation of motion the governing equation of the dynamic system. A quarter model of the suspension system of a car is used as a case and sinusoidal road profile input was considered for modeling. The state space representation was used to reduce the second order differential equation of the dynamic system of suspension model to the first order differential equation. Among the available numerical methods to solve differential equations, Euler method has been employed and the differential equation is coded MATLAB. The numerical result of the second degree of freedom, quarter suspension system demonstrated that the approach of using numerical solution to a differential equation of dynamic system is suitable to easily simulate and visualize the system performance.