Design and Kinematic Analysis of a Quadruped Walking Robot Utilizing Chebyshev Mechanism for Enhanced Mobility

Abdo, Toka A.; Hanafi, Ahmed M.; Abbass, Nourhan A.; Diab, Yousri M.; ELnady, Abdelrady O.

doi:10.21608/ijeasou.2025.388881.1055

Design and Kinematic Analysis of a Quadruped Walking Robot Utilizing Chebyshev Mechanism for Enhanced Mobility

Document Type : Research Article

Authors

¹ Department of Mechatronics Engineering, Faculty of Engineering, October 6 University, 6th of October City, 12585, Giza, Egypt.

² Department of Basic Science, Faculty of Engineering, October 6 University, 6th of October City, 12585, Giza, Egypt.

10.21608/ijeasou.2025.388881.1055

Abstract

This paper presents the design and development of a quadrupedal walking robot intended for effective mobility in complex and constrained environments. Unlike traditional wheeled systems, legged robots offer superior adaptability, making them suitable for applications in public safety, military operations, and rescue missions. The proposed system replicates animal-like motion using a single degree of freedom (1-DOF) leg mechanism, with each leg designed based on a Chebyshev linkage to convert rotational motion into a curved, linear stepping trajectory. The mechanism is actuated by a stepper motor operating at an angular velocity of 2.8 rad/sec, ensuring stable and controlled locomotion. A detailed kinematic analysis is conducted, and numerical simulations are performed to verify the mechanical design and evaluate the leg dynamic behavior. Results show that the maximum velocity at point B varies between –0.044 m/s and 0.15 m/s along the X-axis, and between –0.127 m/s and 0.092 m/s along the Y-axis, demonstrating the feasibility and effectiveness of the proposed walking mechanism.

Keywords