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.

本研究借助SAM 6.1软件，对具有8个连杆的单自由度（single degree of freedom）Desai步行腿机构开展优化设计。研究人员在SOLIDWORKS中完成了该步行机构的运动学分析与四足机器人的运动分析。本次优化针对以直线路径与楼梯为运动场景的四足机器人展开，旨在确定连杆的最优长度、固定关节位置以及步行路径。通过对比SAM中的运动分析结果与SOLIDWORKS中的三维运动分析结果，验证了该优化后的步行机构可适配机器人在多种地形下的作业需求。本研究将该优化模型与Desai、Theos Jansen以及Joe Klann的步行机构进行了对比分析。