In this study, the configuration of a bionic horse robot for equine-assisted therapy is presented. A single-leg system with two degrees\nof freedom (DOFs) is driven by a cam-linkage mechanism, and it can adjust the span and height of the leg end-point trajectory.\nAfter a brief introduction on the quadruped bionic horse robot, the structure and working principle of a single-leg system are\ndiscussed in detail. Kinematic analysis of a single-leg system is conducted, and the relationships between the structural\nparameters and leg trajectory are obtained. On this basis, the pressure angle characteristics of the cam-linkage mechanism are\nstudied, and the leg end-point trajectories of the robot are obtained for several inclination angles controlled by the rotation of\nthe motor for the stride length adjusting. The closed-loop vector method is used for the kinematic analysis, and the motion\nanalysis system is developed in MATLAB software. The motion analysis results are verified by a three-dimensional simulation\nmodel developed in Solidworks software. The presented research on the configuration, kinematic modeling, and pressure angle\ncharacteristics of the bionic horse robot lays the foundation for subsequent research on the practical application of the proposed\nbionic horse robot.
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