Open AccessPresently created walking robots often have higher vertebrates, including humans, as biological prototypes, due to their kinematic structures goodness. However, present-day state of the art doesn’t allow the developer to fully implement the kinematic structure of the selected biological prototype. Therefore, investigations, aimed at the creation of methods to synthesize complex spatial tree-like kinematic structure, are highly relevant.
The results of robot-stegosaurus tree-like actuator kinematic scheme synthesis are represented. The synthesis was performed using a modified Denavit-Hartenberg coordinate system and algorithm for reconstruction of kinematic scheme of biological prototype for photographic images of its skeleton. It is assumed that the links of skeleton are absolutely rigid and interconnected with kinematic pairs of 5-th grade. The geometric centers of the joints are marked by points in the electronic photographs of skeleton, and Microsoft Paint program has been used to calculate their coordinates. The directions of coordinate axes in the centers of the joints have been selected in accordance with Denavit-Hartenberg rules. The kinematic scheme of the robotstegosaurus actuator has been built. Numerical values of the modified Denavit-Hartenberg parameters for main and auxiliary systems of coordinates have determined.
The obtained kinematic scheme doesn’t repeat exactly the kinematic scheme of biological prototype. However, the assumption of kinematic pairs 5th grade only presence, taken in the proposed method, greatly facilitate the implementation of the synthesized kinematic scheme in practice. The considered strategy provides to obtain kinematic scheme options with the required approximation to the biological prototype, providing the developer the right to choose the most appropriate according to the selected criteria.
The obtained results can be the basis for further researches, aimed at creating a robotstegosaurus.