PERFORMANCE ANALYSIS OF QUADRUPED ROBOT DESIGNED WITH DESAI’s WALKING LEG MECHANISM

This paper demonstrates the Optimization of a single degree of freedom Desai’s walking leg mechanism having 8 links, using SAM 6.1 software. The Kinematic analysis of the walking mechanism & motion analysis of a quadruped robot is performed in SOLIDWORKS. The Optimization is performed on a Quadruped robot subjected to motion along a straight path and a staircase to determine the optimized length of linkages, fixed joints' position, and walking path. By comparing the motion analysis on SAM and 3D motion analysis on SOLIDWORKS, this optimized walking mechanism can be used for a robot to work on different terrains. The optimized model is compared with Desai’s, Theos Jansen’s, and Joe Klann’s walking mechanism.

本研究论文展示了采用SAM 6.1软件对单自由度Desai步行腿机构，具有8个连杆的优化过程。通过对步行机构和四足机器人的运动学分析及动力学分析，在SOLIDWORKS软件中得以实现。优化过程针对四足机器人在直线路径和楼梯上的运动进行，旨在确定连杆的优化长度、固定关节的位置以及步行路径。通过对比SAM软件的运动分析和SOLIDWORKS的3D运动分析，该优化的步行机构能够应用于机器人在不同地形上的工作。与Desai、Theos Jansen及Joe Klann的步行机构模型进行比较后，该优化模型得以确立。