Conceptual Design and Computational Modeling Analysis of a Single-Leg System of a Quadruped Bionic Horse Robot Driven by a Cam-Linkage Mechanism.
Abstract: In this study, the configuration of a bionic horse robot for equine-assisted therapy is presented. A single-leg system with two degrees of freedom (DOFs) is driven by a cam-linkage mechanism, and it can adjust the span and height of the leg end-point trajectory. After a brief introduction on the quadruped bionic horse robot, the structure and working principle of a single-leg system are discussed in detail. Kinematic analysis of a single-leg system is conducted, and the relationships between the structural parameters and leg trajectory are obtained. On this basis, the pressure angle characteristics of the cam-linkage mechanism are studied, and the leg end-point trajectories of the robot are obtained for several inclination angles controlled by the rotation of the motor for the stride length adjusting. The closed-loop vector method is used for the kinematic analysis, and the motion analysis system is developed in MATLAB software. The motion analysis results are verified by a three-dimensional simulation model developed in Solidworks software. The presented research on the configuration, kinematic modeling, and pressure angle characteristics of the bionic horse robot lays the foundation for subsequent research on the practical application of the proposed bionic horse robot.
Copyright © 2019 Liangwen Wang et al.
Publication Date: 2019-11-04 PubMed ID: 31814844PubMed Central: PMC6878002DOI: 10.1155/2019/2161038Google Scholar: Lookup
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Summary
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The research discusses the development of a single-leg system for a quadruped bionic horse robot, which is designed for therapeutic purposes. The system is powered by a cam-linkage mechanism that allows control for leg span and height.
Design and Construction of the Bionic Horse Robot
The research focuses on the development of a single-leg system for a bionic horse robot.
- The robot, designed for therapy, is primarily driven by a cam-linkage mechanism. This mechanism enables the robot to adjust the span and leg-end point height, providing the ability to mimic biological horse movements.
- The studies on the structure and operational principles of the single-leg system were outlined comprehensively after an initial overview of the quadruped horse robot.
Kinematic Analysis of the System
The research also covers a detailed kinematic analysis of the system, focusing primarily on the interrelation between structural parameters and leg trajectory.
- The analysis allowed for the examination of how the structural make-up of the system influences the movement of the robotic horse’s leg.
- Based on this analysis, the researchers delved deeper into the pressure angle characteristics of the cam-linkage mechanism which is crucial in understanding the underlying principles powering the bionic horse robot.
Simulation and Verification
The research employs simulations and verification of the design using advanced technological tools.
- The Design was modelled in MATLAB software where motion analysis was conduced
- The results obtained from the motion analysis in MATLAB were then compared and verified with a three-dimensional simulation model. This model was developed in a software called Solidworks.
Practical Applications and Future Research
The research establishes the fundamentals for further exploration into the practical applications of the proposed bionic horse robot.
- The detailed analysis and testing of the robot lay the groundwork for the subsequent research regarding its real-world use and benefits, particularly in the field of therapy.
Cite This Article
APA
Wang L, Zhang W, Wang C, Meng F, Du W, Wang T.
(2019).
Conceptual Design and Computational Modeling Analysis of a Single-Leg System of a Quadruped Bionic Horse Robot Driven by a Cam-Linkage Mechanism.
Appl Bionics Biomech, 2019, 2161038.
https://doi.org/10.1155/2019/2161038 Publication
Researcher Affiliations
- School of Mechanical and Electrical Engineering, Zhengzhou University of Light Industry, Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou 450002, China.
- School of Mechanical and Electrical Engineering, Zhengzhou University of Light Industry, Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou 450002, China.
- School of Mechanical and Electrical Engineering, Zhengzhou University of Light Industry, Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou 450002, China.
- School of Mechanical and Electrical Engineering, Zhengzhou University of Light Industry, Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou 450002, China.
- School of Mechanical and Electrical Engineering, Zhengzhou University of Light Industry, Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou 450002, China.
- School of Mechanical and Electrical Engineering, Zhengzhou University of Light Industry, Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou 450002, China.
Conflict of Interest Statement
The authors declare that they have no conflicts of interest.
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Citations
This article has been cited 1 times.- Zhang R, Pang H, Wan H, Han D, Li G, Wen L. Design and Analysis of the Bionic Mechanical Foot with High Trafficability on Sand.. Appl Bionics Biomech 2020;2020:3489142.
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