Applying closed-loop equations for kinematic analysis of an eight-bar walking mechanism
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https://doi.org/10.54939/1859-1043.j.mst.FEE.2024.157-163Keywords:
Walking mechanism, eight-bar linkage, Kinetic Analysis, Kinetic Inversion, close-loop equation.Abstract
Bionic mechanisms are used in constructing robotic systems that perform complex tasks similar to the movement of animals. With advancements in scientific research and breakthroughs in simulation techniques and computational methods, the design of these systems has become increasingly detailed and refined. This paper proposes using the closed-loop method to analyze the operational characteristics of a wheelless walking mechanism designed to traverse complex terrains. In addition to evaluating fundamental factors affecting system operation, the study determines kinematic parameters such as leg trajectory, movement velocity, and tilt angle. The results demonstrate the effectiveness of numerical methods in analyzing and simulating real-world systems, thus extending the use of computational tools for analyzing similar linkages.
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