Paper Key : IRJ************250
Author: I.a. Vinay Kumar ,B. Sandeepkumar,A. Durga Prasad
Date Published: 02 Sep 2022
Many manmade machines and mechanisms, including robots and other mechanical functions based on the concept of nature inspired designs, so that they are performing according to the requirement of the design and copied animals or insect behaviour. Accordingly, walking 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 analysed. 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. Inorder to validate the performance of the robot leg mechanism and motion behaviours, the kinematic motion analysis was performed in solidedge. The leg mechanism used is effective for rough terrain areas because it is capable of walking
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