Choosing the Kinematic Structure and Dynamics Study of Tree-like Robot Crab Actuator

Currently, much attention is given to research and creation of vehicles that use the principle of walking for its moving. The ability of such mechanisms to move in the absence of a solid track, across rugged terrain and under the rubble, as wel l as high passability, makes their use more efficient, compared to the tracked and wheeled vehicles, and to carry out special operations. Walking robots actuators have a tree-like kinematic structure. Optimal choice of such mechanisms structure and dynamics study are the important scientific and technical problem while designing. The article considers the kinematic scheme of the actuator eight-legged walking robot, equipped with two manipulators. The skeleton of a crab was used as biological prototype while choosing the kinematic scheme. The kinematics and dynamics of the robot actuator are described by a method based on the combined use of matrices (4 4) that have a wide application in robotics, and graph theory. Kinematics and dynamics of the tree-like robot actuator were investigated within MATLAB using a specially compiled simulation program. The proposed algorithm of tree-like kinematic structures choice of the robots actuators and dynamics study, as well as simulation program within MATLAB are the effective means to reduce the time of designing of robots advanced models.

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