Abstract
In this paper we present the kinematics model of a biomechanism which represent the legs of a four legged mammal. The anterior and posterior legs are realized as plane mechanisms, with articulated bars. Each anterior leg has a complex structure with three closed contours, mean while each posterior leg has only two closed contours. Each mechanism is actuated by an electric motor. The geometric and kinematics modelling of the anterior leg mechanism is achieved by means of some vectorial and scalar equations. Also, the kinematics simulation is achieved by means of Msc.Adams software, considering as basis, the upper platform of each mechanism.
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References
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Geonea, I., Margine, A., Dumitru, N., Marin, M. (2013). Structural Design and Kinematics Study of a Mechanism for Quadruped Walking. In: Viadero, F., Ceccarelli, M. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 7. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4902-3_47
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DOI: https://doi.org/10.1007/978-94-007-4902-3_47
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