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.

KEYWORDS:

• Mechanism
• SAM 6.1
• optimisation
• evolutionary algorithm
• kinematic analysis
• desai’s mechanism
• SOLIDWORKS
• 3D quadruped robot

Notations

Table

Data availability statement

The data and materials that support the results or analysis presented in this paper is available at, S, KOUSIK; Suresh, Rahul; Annigeri, Anandkumar R; M N, BHARATH; U B, PraveenKumar (2021), ‘PERFORMANCE ANALYSIS OF QUADRUPED ROBOT DESIGNED WITH DESAI’s WALKING LEG MECHANISM’, Mendeley Data, V1, https://data.mendeley.com/datasets/m28wjdvdsj/1

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Notes on contributors

Kousik S

Mr. Kousik S is working as an Assistant Professor in the Department of Mechanical Engineering at JSS Academy of Technical Education, Bengaluru, India. He did his Master’s degree in Machine Design at BMS College of Engineering, Bengaluru, India. His research areas include Robotics, Additive Manufacturing, FEM, and CFD analysis of fluids and structures.

Rahul Suresh

Mr. Rahul Suresh currently studying M.S in Mechanical Engineering at University of Illinois at Chicago, USA. He received Bachelor of Engineering from JSS Academy of Technical Education, Bengaluru (affiliated to Visvesvaraya Technological University, Belagavi). He is currently doing thesis research for his MS at Flow and Combustion Simulation Laboratory at UIC and working as a Mechanical Engineer at WM International Engineering. His research interests are design of robot motion mechanism, combustion mechanism design and analysis, thermal analysis, alternative fuels and control system design.

Anandkumar R Annigeri

Dr. Anandkumar R Annigeri, is a Professor in the Department of Mechanical Engineering at JSS Academy of Technical Education, Bengaluru, India. He obtained B.E.(Mechanical Engineering), M.E.(Production Management) from Karnataka University, Ph.D from Indian Institute of Technology Madras. His research interests include Robotics, Mechanisms, FEM & Mechanical Vibrations.

Praveen Kumar U B

Mr. Praveen Kumar U B is working as an Assistant Professor in the Department of Mechanical Engineering at JSS Academy of Technical Education, Bengaluru, India. He did his Master’s degree in Product Design & Manufacturing at National Institute of Engineering, Mysuru, India. His research areas include Composite materials & Automobile Engineering.

Bharath M N

Mr. Bharath M N is working as an Assistant Professor in the Department of Mechanical Engineering at JSS Academy of Technical Education, Bengaluru, India. He did his Master’s degree in Machine Design at Vidyavardhaka College of Engineering, Mysuru, India. His research areas include Robotics, Mechanism & Fracture analysis.