Mobile robot with an anthropomorphic walking device: Design and simulation

摘要

The article presents a fundamentally new design of an anthropomorphic walking device for a mobile robot. The novelty of the proposed design lies in the fact that each part of the leg of the robot is made in the form of four corrugated pneumatic chambers that are mounted on spherical hinges. This design allows the robot to move in an angular coordinate system, which is typical for humans. A mathematical model of an elastic walking device is proposed and analytical dependences are given for calculating the geometric and strength parameters. The results of mathematical modelling and recommendations for the design of anthropomorphic walking mechanisms are given. The engineering formulas and diagrams for calculating power loads described in the article allow you to create various modifications of walking robots that have the property of adapting to an arbitrary surface topology for moving a mobile robot. The stated research results allow us to expand the technological capabilities of mobile robots.