DocumentCode
1829696
Title
Kinematics analysis and simulation of quadruped robot
Author
Meng, Ni ; Xiaodong, Wang
Author_Institution
Sch. of Autom. Sci. & Electr. Eng., Beihang Univ., Beijing, China
fYear
2011
fDate
17-20 Aug. 2011
Firstpage
816
Lastpage
821
Abstract
This paper firstly introduces the formation of coordinate system linkage of quadruped robot; consequently, the homogeneous transformation matrix of every coordinate system linkage is computed. Then, the forward and inverse kinematics equations of quadruped robot are formulated. Finally, using SolidWorks Motion to simulate and analysis the kinematics characteristics of 3-D model of robot.
Keywords
mechanical engineering computing; robot kinematics; 3-D model; SolidWorks; coordinate system linkage; homogeneous transformation matrix; quadruped robot kinematic analysis; quadruped robot simulation; Analytical models; Joints; Kinematics; Mathematical model; Robot kinematics; Solid modeling; kinematics analysis; quadruped robot; simulation;
fLanguage
English
Publisher
ieee
Conference_Titel
Fluid Power and Mechatronics (FPM), 2011 International Conference on
Conference_Location
Beijing
Print_ISBN
978-1-4244-8451-5
Type
conf
DOI
10.1109/FPM.2011.6045874
Filename
6045874
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