Configuration and Motion Simulation of Multi-Legged Walking Robots with Hand-Food-Integrated Mechanism Arm

Abstract

The paper introduces the configuration of a multi-legged walking robot with hand-food-integrated mechanism arm. In order to study the kinematics and the dynamics of the robot, three-dimensional entity model of the multi-legged walking robot is built up in solid-works based on inner relation of different simulation softwares. And then the model is leaded in ADAMS to simulate the dynamics and the kinematics of the robot. The paper describes the corresponding process. As an example, the robot ZQROT-1 walking along straight line is investigated. Dynamic parameters of the robot are obtained and analyzed by using ADAMS. The results can be used to optimize the robot structure and to determine its characteristic parameter. The methods and the thoughts of the paper can be referenced to solve similar problem in some aspects.

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

“…According to D-H method [5], coordinate systems are established in the initiator of each link, as shown in Fig. 3.…”

Dynamics Influences Discussion of Robot MiniQuad-II for Construction Member Structure Change Based on ADAMS

“…Multi-legged walking robots are the special robots of time-varying topology mechanism with redundancy driven and multi-branched chain. Recently it is a hot problem for many scholars to research multi-legged walking robots [1,2,3,4,5]. But investigation on its dynamics is very little.…”