Liang Wen Wang

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

The high order equation causing by analytic method in multi-legged robot forward kinematics analysis may have imaginary root, repeated root, extraneous root or even lost solution. A system based on the theory of computer aided geometric method is proposed. Consideration with the internal structural constraint relations of multi-legged walking robots, the solidworks model was constructed and Visual Basic develop platform was adopted to fulfill the secondary development of solidworks. A system of forward kinematics analysis of multi-legged walking robots is established. The example validates that the system is simple and effective for all reptiles-like quadruped walking robot.

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

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.

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

MiniQuad- II is a modular four-legged walking robot. In order to research dynamics and kinematics of the robot, based on inner relation of different simulation software, three-dimensional entity model of four-legged walking robot MiniQuad-II is built up with SOLIDWORKS software firstly. Then, the model is leaded in ADAMS software, dynamics and kinematics of the robot are simulated, the relevant process is described in this paper. As an example, the robot MiniQuad-II walking along straight line is investigated, the dynamics of the robot are analysed with ADAMS. Further, the influences on dynamics properties for the robot are discussed when structural parameters of the robot are changed. Results can be used to optimaze robot structure and determine its final characteristic parameter.

The Energy Consumption Analysis of Four-Legged Walking Robot by Using Different Motion Laws

In this paper, controlling the motion of mass center of robot by different motion laws is discussed to reduce motor’s drive power of robot joint. Firstly, correlation theory is described; obtain that if the (AV) value of motion parameter of robot’ mass center is smaller; the torque of drive motor which needs to drive robot is smaller under the same conditions. Then, in the process of robot ZQROT-I running the straight gait, two typical motion laws are used to control mass motion of robot; motion performance of the robot is analyzed with Adams. Analysis result indicates that control mass motion of robot by the use of motion laws with small (AV) value has certain effect in saving working energy of robot.

Position Error Research of Four-Legged Walking Robot's Swing Leg

In the moving process of four-legged walking robot, the robot uses the random 3 foots to support its body, and the rest 1 foot to swing. This process is carried on alternately to complete the robot moved forward. If the robots foothold position, the independent drive joint variables and the length of leg linkage are inaccurate, the robots swing leg would deviate from the desired position, which led to the robot will deviate from the target track. The robots swing leg trajectory is analyzed in this paper. On this basis, the swing leg trajectory accuracy is discussed under the condition that the errors of the robots foothold position, drive joint variables and legs linkage length are given. The analysis process is illustrated by an example. The error analysis has significant meaning for four-legged walking robot control .

The Research about Energy Consumption and Using Motion Function of Mass Center for Four-Legged Walking Robot

In order to reducing motors energy consumption, the problem about motion function, which has torque feature (AV) m small, is discussed in this paper. Conventional functions and small torque moment function are used to control mass center motion of robot ZQROT-I respectively. In the process of robot running the straight gait , motion performance of the robot is analyzed by ADAMS. Analysis result indicates that function controlling mass motion of robot with small torque feature has significant meaning for saving working energy of robot.

The Calculation System Development of the Quadruped Robot’s Workspace on Fixed Pose

Abstract: Due to the function expansion of the robot with hand-foot-integration, the robot’s frame which is a original common motion platform turns to a mechanical grab platform with floating. The workspace calculation of the robot’s working arm is the prerequisite for the robot starting to grab the aim. In this paper, the calculation system of the robot’s workspace on fixed pose is introduced. The calculation of the robot’s total centroid position is described, the stability of the robot is analyzed and the relationship between the workspace of robot and the stability criterion is discussed. The calculation process of the workspace is given and a numerical example is illustrated. The System can be used for motion control of robot and provide the theory basis for realization of automatic grab.

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

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.

Position Error Research of Multi-Legged Walking Robots with Hand-Foot-Integration Function

Development of integrated hand-foot function will speed up the practical application of multi-legged robots. If the positions of each foothold, the driven joint variables and length of linkage bar in leg are inaccurate, the arms (swing leg) of the robot are likely to deviate from required positions. In this paper, through the calculation process of the multi-legged walking robots arm path, we discussed the calculating problem of the arms position accuracy under the condition that the errors of foothold positions, driven joint variables and legs linkage bar length are given. Detailed calculation formulas are given, and the analysis process is illustrated by an example.

The Influence Analysis of Parameter Errors for Multi-Legged Walking Robot

Because the structural and motion parameters errors, when the robot move in the ideal situation, actual posture of the robot is likely to deviate from its required position. Based on the discussion of forward kinematics, which is calculating the influence of error sources on the posture error of robot, is researched in this paper, and an example is used to explain. The effect of each parameter on posture error can be evaluated by analyzing the results of example. The designer can make different error control method for each parameter according to the influence of them.