FORMULATION OF DYNAMICAL EQUATION OF MULTI BRENCH WALKING MECHANISM WHOSE TOPOLOGY CHANGES DURING ITS MOTION

A method for constructing dynamical equations governing of walking robot whose topology changes during its motion is presented. Basing on defining the topological characteristic of the mechanism, the method integrates it with constraint equations, and formulates the dynamical equations with topological characteristic by using D'Alembert theorem. Finally, a numerical example is given.