Design and Kinematics Analysis of a Bionic Mechanical Goat Hoof

Abstract

Different ground environments call for corresponding foot mechanism design. As for unstructured terrain, through the analysis of goat hooves structure, a robot foot mechanism simulating the goat hooves is designed in our research. According to screw theory and generalized Kutzbach-Grübler mobility criterion, degree of freedom of the bionic goat hoof mechanism is calculated. Then forward kinematics is built based on mechanism geometry. Motion simulation is carried out to verify the algorithms of forward kinematics.