CAD DESIGN AND ANALYTICAL MODEL OF A TWELVE BAR WALKING MECHANISM

Abstract

Aceasta lucrare prezinta o abordare generala privind proiectarea unui robot mobil pasitor bazata pe aspecte specifice mediului mecatronic cum ar fi proiectarea de tip CAD. Modelul analitic si simularea mecanismului pasitor utilizat pentru construcţia unei structuri de robot pasitor sunt de asemenea descrise. Metoda conturului vectorial si metoda geometrica simpla sunt utilizate pentru studiul cinematic direct. This paper presents a general approach to design of walking robot based upon aspects regarding mechatronic environment such as CAD design. The analytic model and simulation of the walking mechanism that is used for building a walking robot structure is also described. The vector loop and simple geometric method are used for studying forward kinematics.