Analysis of the Performance of an Omnidirectional Bionic Leg

Inspired by the structure of the human leg, a bionic leg with the constant posture of the endpoint and capable of omnidirectional legged locomotion is proposed. The structural layout of the bionic leg is introduced. The flexibility of the leg mechanism is analyzed using the condition number of the Jacobian matrix as a performance index. The static model of the leg mechanism is developed based on the virtual work principle. The bearing capacity performance index and the force equilibrium performance index are established by the vector extremum method. Furthermore, the static performance of the leg mechanism is analyzed. In order to verify the applied feasibility and the performance of omnidirectional legged locomotion, the motion simulation of the quadruped robot based on the proposed design is carried out as it moves along seven different directions. A prototype is developed to serve as the foundation for the next phase in the improvement and practical implementation of omnidirectional bionic legs.