Design of a Quadruped Robot and its Inverse Kinematics
Journal Title: International Journal of Mechanical and Production Engineering Research and Development (IJMPERD ) - Year 2017, Vol 7, Issue 4
Abstract
Mobile robots have many abilities, of which the most unique one is the mobility. The terrain over which, these robots must be able to move is often uneven, slippery or muddy, which gives rise to many challenges, particularly stability. Two of the most common methods for robot mobility are wheels and legs. The necessity of legged robots is increasing day by day, as compared to the wheeled robots. Legged robots are more advantageous and versatile than wheeled robots, on uneven terrain such as military operations, remote locations, dangerous environments, excavation and construction works and medical applications. However, achieving the perfect locomotion and mobility of legged robots, on any type of terrain is the area of current research. This paper presents, design of a quadruped robot having four legs, but based on human leg structure. An attempt was also made, to perform inverse kinematic analysis on the design for validation. The paper also explains the procedure of designing a quadruped robot and the parameters involved in it.
Authors and Affiliations
Palivela Arun Kumar, Yeole Shivraj Narayan
Design and Analysis of Helical Gear using Solid works and ANSYS Softwares
Gears are one of the important parts and that are indispensable for mechanical power transmission systems. There are many stresses that can cause failure in gears in mechanical transmission systems. Bending Stress is one...
AN ANALYSIS OF COMPOSITE DRIVE SHAFT USING ANSYS ACP
Almost all automobiles (at least those which correspond to design with a rear wheel drive and front engine installation) have transmission shafts. The weight reduction of the drive shaft can have a certain role in the ge...
Fabrication of Functionally Graded Composite Material using Powder Metallurgy Route: An Overview
Functionally Graded Composite Material (FGCMs) are inhomogeneous materials, consisting of two (or more) different materials, with an engineered gradient along the thickness direction having a continuously varying spatial...
Grain Refinement through Design Modification of ECAP Dies
The need for super-plasticity and high strength leads to the development of Severe Plastic Deformation (SPD) techniques. The strength of the material is directly dependent upon the grain size of the material. During the...
Study the Effects of Carbon Nano Tubes on Corrosion Behavior of Ni-Pelectro-Less Coating of Low Alloy Steels in Salt Water
The basic aim is to study the resistance of corrosion and hardness of heat treatment of coatings with electro-less NiP-CNT. Various concentration of CNTs ranging, 0, 0.1, 0.2 and 0.4g/L in Ni-P-CNT composite was deposite...