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
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;
Conference_Titel :
Fluid Power and Mechatronics (FPM), 2011 International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-8451-5
DOI :
10.1109/FPM.2011.6045874
