Walking platform of a mobile robot with a simplified kinematic system of mammals

Authors: Zhalyalov R.R.
Published in issue: #6(59)/2021
DOI: 10.18698/2541-8009-2021-6-712

Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems

Keywords: mobile walking platform, walking robot, kinematic system, kinematic diagram of mammals, four-legged walking machine, biomimetics, RF patent 2642020, Boston Dynamics, SpotMini, ANYmal C, LaikaGo
Published: 21.07.2021

The main advantages of the walking platform over their direct competitors — wheeled and tracked platforms are considered. The systematization of various kinematic systems according to their distinctive parameters is carried out, the advantages and disadvantages of the developed system are considered. An innovative kinematic system, which is based on the simplification of the kinematic scheme of a mammal’s leg, which is common in walking robots, is presented. Based on this system, a variant of a mobile walking platform, protected by patent No. 264202, in which two degrees of freedom of the movable leg and the degrees of freedom of the entire device are used to position the leg in three-dimensional space, is proposed. A comparative analysis of the parameters of this design with examples of developments of companies leading in this industry has been carried out.


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