The Kinematic Analysis of the Walking Mechanism Based on the Leg-Wheel Mobile Robot

In the studying and designing process for the robotic walking system, a theoretical analysis and simulation on the kinematic characteristics of the walking mechanism of the robot is done. From our experiments, the characteristic curves of velocity and acceleration of the drop-foot point are obtained. The walking mechanism is stable in the translation cycle, which contributes to the stability of the robot motion, while the robot still can move at a certain speed. The stress of the walking mechanism is complicated in the step cycle, because both the velocity and acceleration get a certain amount of mutation.