Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 12, issue 2
Articles | Volume 12, issue 2
https://doi.org/10.5194/ms-12-735-2021
© Author(s) 2021. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-12-735-2021
© Author(s) 2021. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 12, issue 2
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, Xigui Wang, Yongmei Wang, and Baixue Fu

Viewed

Total article views: 1,972 (including HTML, PDF, and XML)
HTML PDF XML Total BibTeX EndNote
1,454 479 39 1,972 35 36
  • HTML: 1,454
  • PDF: 479
  • XML: 39
  • Total: 1,972
  • BibTeX: 35
  • EndNote: 36
Views and downloads (calculated since 30 Jul 2021)
Cumulative views and downloads (calculated since 30 Jul 2021)

Viewed (geographical distribution)

Total article views: 1,854 (including HTML, PDF, and XML) Thereof 1,854 with geography defined and 0 with unknown origin.
Country # Views %
  • 1
1
 
 
 
 

Cited

Latest update: 05 Jul 2025
Download
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.
Read more
Share