期刊名称：Advances in Science and Technology Research Journal
印刷版ISSN：2080-4075
电子版ISSN：2299-8624
出版年度：2019
卷号：13
期号：3
页码：43-53
DOI：10.12913/22998624/109792
语种：English
出版社：Society of Polish Mechanical Engineers and Technicians
摘要：Many manmade machines and mechanisms, including robots, function based on the concept of nature-inspireddesign, so that they can perform their intended duties by mimicking the working mechanisms of animals andinsects. Accordingly, walking machines (robots) use wheels and tracks to cross rough terrain efciently and in amore stable way than conventional robots. Legged walking robots in particular remain in a discontinuous contactwith 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 canoperate on rough terrain. Its kinematic mechanisms were analyzed using the Denavit-Hartenberg (DH) conventionapproach. Symbolic computations are also implemented to parametrically optimize the motion parameters of therobot leg mechanism. The equation of motion was derived from the dynamic analysis using the Euler-Lagrangemethod which involves kinetic and potential energy expressions. In order to validate the performance of the robotleg 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 withdifferent amplitudes in terms of surface roughness and aerodynamics.
