Choice of a kinematic structure and reseach of a "Robot-dog" tree-like actuator

A review of kinematic structures of the executive mechanisms of some four-legged walking robots samples has been carried out. When choosing them it is recommended to use a skeleton of a dog as a biological prototype. The article proposes a kinematic structure, a corresponding reachability graph and dynamic equations of the "Robot - dog" tree-like actuator.

The simulation program has been compiled and numerical values of matrix elements A(q), B (q, ), C (q),H(q) in the equation of dynamics, as well as the values of the moments and powers in the degree of mobility of the robot has been obtained.