Digital model and application of the reptile-like quadruped bionic robot
WANG Liang-wen
LI Qun-tao
WANG Xin-jie
GUO Jin-chao
WANG Cai-dong
Abstract：Because of redundant driving characteristics of the reptile-like quadruped bionic robot,displacement analysis process of forward kinematics was very difficult.The modeling technology of digital model for the rep-tile-like quadruped bionic robot base on the quadruped bionic robot configuration was as follows:frame size and active driving angle were driven by parameterized model,to make the robot move to the corresponding posi-tion.The coordinate system was built in preliminary sketch after the position and posture of robot were con-firmed.The parameters were measured by SolidWorks measuring functions and then the position and posture result of robot were obtained through combining homogeneous matrices.When the method was applied to ana-lyze kinematics of robot,rather than the derivation of detailed kinematics formula,only the active constraint and passive constraint relationship among the parts of robot was required.The idea of the method could be used widely for kinematics analysis of redundant driving structure.
Keywords：reptile-like quadruped bionic robotrobot con-figurationdigital modelredundant driving
Publication Date：2016-03-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：10( 87-96 )