Modeling the dynamics of the four-legged mechatronic walking device in the MATLAB Simulink

Authors: Vecherin Ya.A.
Published in issue: #12(29)/2018
DOI: 10.18698/2541-8009-2018-12-412
Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: mechatronic walking device, kinematic construction, mathematical modeling, motion parameters, energy efficiency, electric drive, mechanical power, mechanical work
Published: 14.12.2018

The determination of the energy efficiency of mechatronic walking devices is the actual problem nowadays. The article is devoted to mathematical modeling of the dynamics and comparative analysis of the energy efficiency of the object of study and the best foreign analogues. The object of the study is a four- legged mechatronic walking device, which is proprietary device (the Russian Federation patent No. 2642020). The purpose of the study is to determine the energy efficiency of an object using mathematical modeling. As a result of the experiment, the maximum speed of the device movement with a basic gait like “lynx” was determined. The results show the higher energy efficiency of the object of study in comparison with analogues, which makes the device cheaper for manufacturing and more attractive for commercial use. Such devices are multifunctional in everyday life. They can be used to transfer small loads in the absence of elevators in low-rise private houses, to monitor movement within the house and to alert the user about a fire.

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