Optimization of the Walking Robot Parameters on the Basis of Isotropy Criteria
Ibrayev S. Ibrayeva A. Jamalov N. Patel S.H.
2022Institute of Electrical and Electronics Engineers Inc.
IEEE Access
2022#10113969 - 113979 pp.
Many authors proposed various criteria and concepts to assess manipulability of the robotic system. The isotropy criterion is used by other authors for synthesis of parallel manipulators, as a criterion of optimal force and transfer in all directions. In this research we applied this method for the first time for investigation and synthesis of turning mechanism of a walking robot. Isotropy conditions were derived for the walking robot with orthogonal-type propellers and on its basis the optimal configurations of the robot in terms of force and motion transmission are defined. Solutions of the isotropy equations were found and on the basis of the analysis of isotropic solutions, optimal metric parameters of the robot were found. An experimental prototype of the legged robot is developed.
isotropy criteria , optimal synthesis , turning mechanism , Walking robot
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Institute of Mechanics and Engineering, Almaty, 050013, Kazakhstan
Al-Farabi Kazakh National University, Mechanical Engineering Department, Almaty, 050040, Kazakhstan
University of Bridgeport, School of Engineering, Bridgeport, 06604, CT, United States
Institute of Mechanics and Engineering
Al-Farabi Kazakh National University
University of Bridgeport
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