Abstract:
Many manmade machines and mechanisms, including robots, function based on the concept of nature-inspired
design, so that they can perform their intended duties by mimicking the working mechanisms of animals and
insects. Accordingly, walking machines (robots) use wheels and tracks to cross rough terrain efficiently and in a
more stable way than conventional robots. Legged walking robots in particular remain in a discontinuous contact
with the ground that provides them with the capability to select routes to avoid obstacles or holes. This article re ports a study conducted on kinematic modelling and analysis of a walking machine (robot) leg mechanism that can
operate on rough terrain. Its kinematic mechanisms were analyzed using the Denavit-Hartenberg (DH) convention
approach. Symbolic computations are also implemented to parametrically optimize the motion parameters of the
robot leg mechanism. The equation of motion was derived from the dynamic analysis using the Euler-Lagrange
method which involves kinetic and potential energy expressions. In order to validate the performance of the robot
leg mechanism and motion behaviors, the kinematic motion analysis was performed in SolidWorks and MATLAB.
The leg mechanism used is effective for rough terrain areas because it is capable of walking on the terrain with
different amplitudes in terms of surface roughness and aerodynamics.
