Kinematic Analysis of the Translational Motions of a Quadruped Robot

Over time, the development of robots with characteristics similar to those of humans and animals has increased significantly, due to their agility in solving complex tasks. In this paper, the kinematic analysis is presented for a quadruped robot with 3 degrees of freedom on each leg. The aim of the work is to develop motion plan for quadruped robot based on kinematic model. The kinematic equations obtained mathematically and geometrically. Based on the simulation of the motions, the certainty of the kinematic model and motion plan is shown. The inverse kinematic solutions were performed in Wolfram Mathematica. The translational motions along the transverse, longitudinal and vertical axes were given using these solutions.