KINEMATIC AND DYNAMIC ANALYSIS OF MULTIGAIT QUADRUPED ROBOT

All quadruped robots deal with the same challenge of motion generation. A specific architecture of a motion generator for stable gaits is proposed which can be easily adapted to the needs of various four-legged walking machines. Kinematic and dynamic analysis of quadruped robot are realized for walking and running gaits in this study. This paper presents the development of robotic gait pattern for motion of the quadruped robot on natural terrain containing of irregular and rough terrain. The mechanical system consists of an acrylic torso frame and legs. The legs are designed based on the results of kinematic calculations which determine the length of the linkages, capability of each leg to generate force and robotic workspace. The quadruped robot is developed with 3DOF on all its legs. The various dynamic analysis done includes feet force distributions, energy consumption and dynamic stability, considering the inertial effects of the legs on the system. The locomotion of the robot is being controlled by controlling the angular rotation of the servo motors placed on the joints. The Inverse kinematics solutions are derived for the developed structure using analytical method. Computer simulations have been carried out to test the effectiveness of the developed model and to determine the maximum velocity and acceleration by each of the links.