Design of Quadruped Mobile Robot with Strandbeest Walking Mechanism to Overcome Concave and Ramp Type Obstacles

摘要

Nowadays, legged mobile robots have the ability to move according to difficult terrain conditions such as rough, sloping and slippery ground compared to wheeled, rail and tracked robots. Due to these dynamic capabilities, they are used in the defense and space industry, load carrying, first aid, search and rescue and many other areas. In this paper, quadruped robot mechanism with Strandbeest walking mechanism, developed by Theo Jansen, was designed to overcome concave and ramp type obstacles. In the Strandbeest mechanism, different trajectories were drawn by changing the link length to overcome concave and ramp type obstacles. The trajectories of the mechanism was created using the GeoGebra program. Solid modeling of the legged robot was made in SolidWorks program. The simulations quadruped mobile robot of with Strandbeest walking mechanism, whose link parameters were optimized, were made in Algodoo program.