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.