Author/Authors :
Wang, Liangwen School of Mechanical and Electrical Engineering - Zhengzhou University of Light Industry, Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou, China , Zhang, Weiwei School of Mechanical and Electrical Engineering - Zhengzhou University of Light Industry, Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou, China , Wang, Caidong School of Mechanical and Electrical Engineering - Zhengzhou University of Light Industry, Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou, China , Meng, Fannian School of Mechanical and Electrical Engineering - Zhengzhou University of Light Industry, Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou, China , Du, Wenliao School of Mechanical and Electrical Engineering - Zhengzhou University of Light Industry, Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou, China , Wang, Tuanhui School of Mechanical and Electrical Engineering - Zhengzhou University of Light Industry, Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou, China
Abstract :
In this study, the configuration of a bionic horse robot for equine-assisted therapy is presented. A single-leg system with two degrees of freedom (DOFs) is driven by a cam-linkage mechanism, and it can adjust the span and height of the leg end-point trajectory.After a brief introduction on the quadruped bionic horse robot, the structure and working principle of a single-leg system are discussed in detail. Kinematic analysis of a single-leg system is conducted, and the relationships between the structural parameters and leg trajectory are obtained. On this basis, the pressure angle characteristics of the cam-linkage mechanism are studied, and the leg end-point trajectories of the robot are obtained for several inclination angles controlled by the rotation of the motor for the stride length adjusting. The closed-loop vector method is used for the kinematic analysis, and the motion analysis system is developed in MATLAB software. The motion analysis results are verified by a three-dimensional simulation model developed in Solid works software. The presented research on the configuration, kinematic modeling, and pressure angle characteristics of the bionic horse robot lays the foundation for subsequent research on the practical application of the proposed bionic horse robot.
