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Design and operation of a tripod walking robot via dynamics simulation

Published online by Cambridge University Press:  12 October 2010

Conghui Liang ,
Hao Gu ,
Marco Ceccarelli  and
Giuseppe Carbone
Conghui Liang*
Affiliation:
Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio, 43 – 03043 Cassino (FR), Italy. E-mails: hao.gu@unicas.it, ceccarelli@unicas.it, carbone@unicas.it
Hao Gu
Affiliation:
Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio, 43 – 03043 Cassino (FR), Italy. E-mails: hao.gu@unicas.it, ceccarelli@unicas.it, carbone@unicas.it
Marco Ceccarelli
Affiliation:
Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio, 43 – 03043 Cassino (FR), Italy. E-mails: hao.gu@unicas.it, ceccarelli@unicas.it, carbone@unicas.it
Giuseppe Carbone
Affiliation:
Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio, 43 – 03043 Cassino (FR), Italy. E-mails: hao.gu@unicas.it, ceccarelli@unicas.it, carbone@unicas.it
*
*Corresponding author. E-mail: liang.conghui@unicas.it
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Summary

A mechanical design and dynamics walking simulation of a novel tripod walking robot are presented in this paper. The tripod walking robot consists of three 1-degree-of-freedom (DOF) Chebyshev–Pantograph leg mechanisms with linkage architecture. A balancing mechanism is mounted on the body of the tripod walking robot to adjust its center of gravity (COG) during walking for balancing purpose. A statically stable tripod walking gait is performed by synchronizing the motions of the three leg mechanisms and the balancing mechanism. A three-dimensional model has been elaborated in SolidWorks® engineering software environment for a characterization of a feasible mechanical design. Dynamics simulation has been carried out in the MSC.ADAMS® environment with the aim to characterize and to evaluate the dynamic walking performances of the proposed design with low-cost easy-operation features. Simulation results show that the proposed tripod walking robot with proper input torques, gives limited reaction forces at the linkage joints, and a practical feasible walking ability on a flatten ground.

Keywords

Legged walking machinesTripod walking robotsLeg mechanismsDynamics simulation
Type
Articles
Information
Robotica , Volume 29 , Issue 5 , September 2011 , pp. 733 - 743
Copyright
Copyright © Cambridge University Press 2010

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