The Mechanism Design and Gait Control of a five-bar linkage QuadrupedWalking Machine

• Main Authors: Kuo-Kai Hang, 洪國凱
• Other Authors: Kuo-Yang Tu
• Format: Others
• Language: zh-TW
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/75436706103774353010

碩士 === 國立高雄第一科技大學 === 系統與控制工程研究所 === 94 === Abstract This paper proposes a Quadruped Walking Machine using the mechanism of a five-bar linkage and a sliding pair. The purpose is to reach a smooth trajectory for the foot with less number of linkages. The leg linkage is attached to a sliding joint and a rotating mechanism at the hip to vary the step span and direction, which allows the Quadruped Walking Machine to coordinate the motion of each leg to accomplish the locomotion of advancing, spinning, and turning. This research uses Dynamic Mechanism Simulation software ADAMS to verify the kinematics movements of each locomotion, and estimate driving torque and the dynamic balance of the Quadruped Walking Machine. At last, we manufacture a prototype of the Quadruped Walking Machine through Mechatronics controlling technology. A control interface using Matlab is proposed to realize the motion commands and coordinate the kinematics for each lag. The remote control system combines with the wireless motion control. We adopt a microchip to be the central processing unit, which is controlling anther four chips to drive each leg’s movement. The prototype demonstrates the feasibility and kinematics analysis of the Quadruped Walking Machine.