Performance analysis of quadruped robot designed with Desai’s walking leg mechanism

Abstract

The simulation studies performed on walking quadruped robot, with 8 link coplanar Desai’s walking leg mechanism, is conducted using SAM 6.1 software along with the kinematic analysis and motion analysis of a quadruped robot performed in SOLIDWORKS software. The optimised link lengths of each leg in Quadruped robot are obtained based on motion along a straight path and a staircase. The foot profile of optimised model is compared with Desai’s, Theos Jansen’s, and Joe Klann’s walking leg mechanisms.