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International Standard Serial Number:
ISSN 1001-4551
Sponsor:
Zhejiang University;
Zhejiang Machinery and Electrical Group
Edited by:
Editorial of Journal of Mechanical & Electrical Engineering
Chief Editor:
ZHAO Qun
Vice Chief Editor:
TANG ren-zhong,
LUO Xiang-yang
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Research on the straightforward motion of quadruped skating robot
DONG Jinqiu, JIANG Zhen, PENG Wei
(School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200072, China)
Abstract: In order to display the influence exerted on velocity of quadruped skating robot when skating straightforwardly by different joint driven parameters, a mathematical model was established firstly and the motion principle was given. Velocity curves were investigated under different driven and joint coordinate parameters, using the combined method of analyzing theoretically by Matlab and simulating by ADAMS. The law was concluded by contrasting those curves at last. The research results show that parameters above have an important effect on robots velocity and the conclusions provide the basis for after controlling.
Key words: quadruped skating robot; straightforward motion; driven parameters
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