Computer Aided Geometric Method of Forward Kinematics Analysis of Multi-Legged Walking Robots

“…24 We proposed a computer-aided geometric (CAG) method for forward kinematics analysis of the robot to solving the stable workspace of quadruped bionic robot with handfoot-integrated function. 25,26 In our further research, we recognized that the forward kinematics analysis of the 3-RRRS mechanism needs the completed derivation of the kinematics equations. Solving the equations of motion is very complicated; however, using computer software to model the mechanism is a very effective way to simplify the task.…”

Section: Introductionmentioning

confidence: 99%

“…We need to further improve and systematize the previous work to developing a CAG method to analyze the motion of the 3-RRRS mechanism. 25,26 Developing a CAG method to analyze the motion of the mechanism for reducing the difficulty of the analysis process and reducing the solving time is our research goal.…”

Section: Introductionmentioning

confidence: 99%

“…24 We proposed a computer-aided geometric (CAG) method for forward kinematics analysis of the robot to solving the stable workspace of quadruped bionic robot with hand–foot-integrated function. 25,26…”

Section: Introductionmentioning

confidence: 99%

“…We need to further improve and systematize the previous work to developing a CAG method to analyze the motion of the 3-RRRS mechanism. 25,26…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Forward kinematic analysis of a 3-RRRS mechanism with subordinate driving variables using a computer-aided geometric method

Wang

Meng

et al. 2019

International Journal of Advanced Robotic Systems

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The 3-RRRS mechanism (RRRS refers to kinematic pairs of a branched chain consisting of three R pairs (Rotational pairs) and one S pair (Spherical pair), successively) is used between a moving platform and a static platform, through which six-dimensional motion of the moving platform relative to the static platform can be achieved. Selecting six independently drivable joints from nine active joints makes it problematic to deal analytically with the kinematics of the 3-RRRS mechanism. In this article, a novel computer-aided geometric method for kinematic analysis is developed. This method can automatically detect the independently drivable joints for arbitrary kinematic chains. This method can be easily implemented compared to the analytical method of the forward kinematics. Based on the constraint relationship of the 3-RRRS mechanism, a general 3-RRRS mechanism digital model is built in the SolidWorks Application Program Interface embedded Visual Basic environment, in which the platform sizes and active driving angles are driven by the parameterized model, to make the moving platform move to the corresponding pose. After the pose of the moving platform is confirmed, the coordinate system is built in a preliminary sketch. The parameters are measured by the SolidWorks measuring functions, and the pose of the moving platform is obtained by combining homogeneous matrices. Using the computer-aided geometric method, the detailed kinematics formula is not required. The accuracy and efficiency of the computer-aided geometric method were assessed with some examples of kinematic analysis for the 3-RRRS mechanism. The results showed that the proposed method obtained competitive precision and calculation time to the analytical method and is beneficial as a convenient solving process. By using Visual Basic programming, a reachable poses analysis of the mechanism can be merged into the kinematics analysis system of the computer-aided geometric method. The computer-aided geometric method could be widely applied to kinematics analysis of mechanisms.

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Dynamic Analysis of Multi-Legged Walking Robot’s Swing Leg with Hand-Foot-Integration Function

Wang

Zhang

Wang

et al. 2011

AMR

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In this paper, the structure and the motion state of a new type multi-legged walking robot with hand-foot-integration function is introduced, and its swing leg which has hand-foot-integration function is analyzed in detail. Firstly, the kinematics relation of the swing leg is researched, then the velocity and accelerated velocity expression of the swing leg is derived. And then, the dynamics of the swing leg in the state of grasping objects with considering the gravity effect is researched by using Newton-Euler method. The relevant formula is deduced in this paper. Finally, the analysis process is verified through a numerical example.

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Computer Aided Geometric Method of Forward Kinematics Analysis of Multi-Legged Walking Robots

Cited by 4 publications

References 4 publications

A geometric approach to solving the stable workspace of quadruped bionic robot with hand–foot-integrated function

A geometric approach to solving the stable workspace of quadruped bionic robot with hand–foot-integrated function

Forward kinematic analysis of a 3-RRRS mechanism with subordinate driving variables using a computer-aided geometric method

Dynamic Analysis of Multi-Legged Walking Robot’s Swing Leg with Hand-Foot-Integration Function

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