Kinematics analysis of double hydraulic actuated one-legged robot attitude adjustment mechanism

The self-balance one-legged robot (one-legged robot) is composed of frame and pneumatic actuated leg. The swing angle between the leg and the frame (the swing angle) can be adjusted by changing the extension elongation of two hydraulic cylinders. According to the degrees of freedom of the attitude adjustment mechanism, the two hydraulic cylinders are mounted by three Hook joints and one rotating pair. Mathematical models of inverse kinematics and forward kinematics are developed based on the geometrical properties of the attitude adjustment mechanism by using the space geometry and vector algebra theory. Simulation results show that the workspace of the mechanism is continuous. According to the measurement of four groups of values of the swing angle and hydraulic cylinders´ extension elongation in the three-dimensional model, the reverse solution and the forward solution are right.