Comparative Study of the Horse Limbs and Their Modeled Biomechanisms

• Main Authors: Cătălina Robu (Nan), Constantin Brezeanu, Ovidiu Antonescu
• Format: Article
• Language: English
• Published: Editura Eftimie Murgu 2018-06-01
• Series: Robotica & Management
• Subjects: topological structure; mechanical structure; kinematic scheme; actuator; mobility
• Online Access: http://robotica-management.uem.ro/fileadmin/Robotica/2018_1/RM_2018_1_Pag_25_Robu.pdf

The first part of the paper presents the topological structure of the horse skeleton, highlighting the tubular architecture of long bones that is mechanically conditioned by the stresses to which the bone is subjected during walking. The mechanical structure of the bone acts as reinforced concrete, consisting of the fibrillated fundamental matter, molecularly embedded by lime salts. The muscle structure of the same-side horse limbs (anterior and posterior) is pointed out. The muscles are the actuators that allow the movement and coordination of the movement of each horse leg. In the second part of the paper two models of constructive schemes of the anterior and posterior limbs have been considered. The kinematic schemes of the two articulated planar models have been achieved. The topological structure of each kinematic scheme has been analyzed by highlighting the consisting kinematic elements, the specific kinematic joints, and by confirming the degree of mobility using an original formula.