Dynamic Modelling of a Four Legged Robot

In this paper we present the kinematic model of a mechanism, which represent the legs of a four legged robot. The anterior legs and posterior are realized as plane mechanisms, with articulated bars. Each anterior leg has a complex structure, with four closed loops, mean while each posterior leg has only three closed loops. Each mechanism is actuated by an electric motor. The geometric and kinematic modelling of the anterior leg mechanism is achieved by means of some vectorial and scalar equations. Also, the dynamic simulation is achieved during walking, by means of ADAMS software.

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