Design, Analysis and Measurements Problem of Mili-Walking Machines Using Multi-Body System Formulation
The paper presents the generalised approach to design, kinematic and dynamic modelling of walking robot based on multi-body formalism implemented in commercial package. The impact forces were simulated using FEM approach and reaction forces were calculated. Numerical results were validated using reaction forces measurements with tensometer sensors.
KeywordsContact Force Natural Rubber Virtual Prototype Differential Algebraic Equation Kinematic Pair
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