Selection of Design Parameters of Pantograph Leg Mechanism in Quadruped Walking Robot
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Abstract
This paper analyzes the motion space of pantograph leg mechanism in order todesign and manufacture a quadruped walking robot.We get the space motion of legwith three rectilineal motion in Cartesian coordinates.The paper gives the conclusionthat K2=1 and K1(>1)should be as large as possible,and gives also three optimizingmotion distance and loction of each actuator with optimizing methods.
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