Cam Drive Step Mechanism of a Quadruped Robot
Bionic quadruped robots received considerable worldwide research attention. For a quadruped robot walking with steady paces on a flat terrain, using a cam drive control mechanism instead of servomotors provides theoretical and practical benefits as it reduces the system weight, cost, and control com...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2014-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2014/851680 |
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| _version_ | 1850178442963714048 |
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| author | Qun Sun Chong Wang Dongjie Zhao Cuihua Zhang |
| author_facet | Qun Sun Chong Wang Dongjie Zhao Cuihua Zhang |
| author_sort | Qun Sun |
| collection | DOAJ |
| description | Bionic quadruped robots received considerable worldwide research attention. For a quadruped robot walking with steady paces on a flat terrain, using a cam drive control mechanism instead of servomotors provides theoretical and practical benefits as it reduces the system weight, cost, and control complexities; thus it may be more cost beneficial for some recreational or household applications. This study explores the robot step mechanism including the leg and cam drive control systems based on studying the bone structure and the kinematic step sequences of dog. The design requirements for the cam drive robot legs have been raised, and the mechanical principles of the leg operating mechanism as well as the control parameters have been analyzed. A cam drive control system was constructed using three cams to control each leg. Finally, a four-leg demo robot was manufactured for experiments and it showed stable walking patterns on a flat floor. |
| format | Article |
| id | doaj-art-bc2e20ee1ca04f8db0d3b94dbe6cc97e |
| institution | OA Journals |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-bc2e20ee1ca04f8db0d3b94dbe6cc97e2025-08-20T02:18:43ZengWileyJournal of Robotics1687-96001687-96192014-01-01201410.1155/2014/851680851680Cam Drive Step Mechanism of a Quadruped RobotQun Sun0Chong Wang1Dongjie Zhao2Cuihua Zhang3School of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng, Shandong 252000, ChinaSchool of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng, Shandong 252000, ChinaSchool of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng, Shandong 252000, ChinaSchool of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng, Shandong 252000, ChinaBionic quadruped robots received considerable worldwide research attention. For a quadruped robot walking with steady paces on a flat terrain, using a cam drive control mechanism instead of servomotors provides theoretical and practical benefits as it reduces the system weight, cost, and control complexities; thus it may be more cost beneficial for some recreational or household applications. This study explores the robot step mechanism including the leg and cam drive control systems based on studying the bone structure and the kinematic step sequences of dog. The design requirements for the cam drive robot legs have been raised, and the mechanical principles of the leg operating mechanism as well as the control parameters have been analyzed. A cam drive control system was constructed using three cams to control each leg. Finally, a four-leg demo robot was manufactured for experiments and it showed stable walking patterns on a flat floor.http://dx.doi.org/10.1155/2014/851680 |
| spellingShingle | Qun Sun Chong Wang Dongjie Zhao Cuihua Zhang Cam Drive Step Mechanism of a Quadruped Robot Journal of Robotics |
| title | Cam Drive Step Mechanism of a Quadruped Robot |
| title_full | Cam Drive Step Mechanism of a Quadruped Robot |
| title_fullStr | Cam Drive Step Mechanism of a Quadruped Robot |
| title_full_unstemmed | Cam Drive Step Mechanism of a Quadruped Robot |
| title_short | Cam Drive Step Mechanism of a Quadruped Robot |
| title_sort | cam drive step mechanism of a quadruped robot |
| url | http://dx.doi.org/10.1155/2014/851680 |
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