Articles | Volume 12, issue 2
Mech. Sci., 12, 735–749, 2021
https://doi.org/10.5194/ms-12-735-2021
Mech. Sci., 12, 735–749, 2021
https://doi.org/10.5194/ms-12-735-2021
Research article
30 Jul 2021
Research article | 30 Jul 2021

Kinematics analysis of a four-legged heavy-duty robot with a force–position hybrid control servo actuator in a parallel-executed cylinder system

Guiying Wang et al.

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Short summary
An electrohydraulic servo four-legged heavy-duty (FLHD) robot has been designed and developed. An integration layout cylinder design scheme for a non-lightweight hydraulic servo four-legged robot with high loads and torque of the hip joint is proposed, and the mathematical element analysis model for a parallel-executed cylinder (PEC) system is derived. A design idea of a force–position hybrid control scheme is determined for the PEC.