MODELING AND FINITE ELEMENT ANALYSIS OF A WALKING ROBOT LEG MECHANISM AT HIGH SPEEDS USING ADAMS SOFTWARE

In this project work study of feasibility for a fully rotating actuation of the pantograph- leg has been carried out. In particular, a suitable model of the leg kinematics analysis and design are presented pantograph-leg for walking machines. In particular, the motion capability of the leg has been studied, together with theoretical acceleration, velocity of the components of the mechanism. A parametric study has been also carried out in order to investigate the influence of some basic design parameters on its motion capabilities Simulation with MATLAB software have been carried out to verify the operation of the leg. The modeling also has been carried out by CATIA software . Structural analysis and FEM with ADAMS software also have been carried out to check the induced stresses during the operation of the mechanism.