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Simulation study for improving heavy payload legged robot locomotion capabilities through the use of a Marxplanar drive arrangement gearbox
Dissertation (MEng (Mechanical Engineering))--University of Pretoria, 2025.
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| Format: | Thesis |
| Language: | English |
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University of Pretoria
2026
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| _version_ | 1869483936900448256 |
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| access_status_str | Open Access |
| author2 | Du Plessis, Lukas J. |
| author_browse | Du Plessis, Lukas J. |
| author_facet | Du Plessis, Lukas J. |
| collection | Thesis |
| dc_rights_str_mv | © 2024 University of Pretoria. All rights reserved. The copyright in this work vests in the University of Pretoria. No part of this work may be reproduced or transmitted in any form or by any means, without the prior written permission of the University of Pretoria. |
| description | Dissertation (MEng (Mechanical Engineering))--University of Pretoria, 2025. |
| format | Thesis |
| id | oai:repository.up.ac.za:2263/108357 |
| institution | University of Pretoria (South Africa) |
| language | English |
| last_indexed | 2026-07-01T04:06:55.556Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from UPSpace — University of Pretoria Institutional Repository |
| publishDate | 2026 |
| publishDateRange | 2026 |
| publishDateSort | 2026 |
| publisher | University of Pretoria |
| publisherStr | University of Pretoria |
| record_format | dspace |
| source_str | UPSpace — University of Pretoria Institutional Repository |
| spelling | oai:repository.up.ac.za:2263/108357 Simulation study for improving heavy payload legged robot locomotion capabilities through the use of a Marxplanar drive arrangement gearbox Du Plessis, Lukas J. u22012819@tuks.co.za Poursina, Mohammad Heyns, P.S. (Philippus Stephanus) Kikanga, Vincent L. UCTD Sustainable Development Goals (SDGs) Quadruped Robot Inverse Kinematics Inverse Dynamics Walking Gait Simscape Lewis bending stress analysis Dissertation (MEng (Mechanical Engineering))--University of Pretoria, 2025. This dissertation investigates the feasibility of employing the Marx Planar Drive Arrangement Gearbox (MPDAG) as the primary actuation mechanism for a quadruped robot intended for heavy payload transportation in hazardous environments, such as underground mining. Existing quadruped robots typically exhibit payload-to-weight ratios below unity, rely on complex control systems, and incur high energy costs. To address these limitations, this research develops and evaluates a novel quadruped design that integrates the MPDAG with statically stable gait planning and computationally efficient inverse kinematics. The methodology combines MATLAB/Simulink inverse kinematics with Simscape-based dynamic simulations to assess gait execution, torque and power requirements, and drivetrain stress. Two case studies are performed under a defined 600 kg payload (payload-to-weight ratio of 1.2) conditions. Results demonstrate that the prescribed gait was successfully implemented, with centre of mass trajectories confirming stable locomotion. Dynamic analyses revealed that only one component of MPDAG bears the greatest mechanical demand, with peak torque and power requirements of approximately 6 kNm and 8 kW, respectively. Notably, energy distribution across the legs was uneven, with the right hind leg carrying a disproportionate share of the load. Despite these localized peaks, Lewis bending stress analysis confirmed that gear stresses remained below the material yield threshold (540 MPa vs. 580 MPa), validating the structural reliability of the drivetrain under cyclic loading. The findings establish the MPDAG quadruped as a mechanically viable and energetically efficient design concept, capable of carrying heavy payloads while maintaining static stability. Contributions of the research include the introduction of the MPDAG to quadruped robotics, the implementation of an efficient trajectory generation framework, and the demonstration of drivetrain feasibility using commercially available materials. Limitations include the reliance on simulation, simplified stress modelling, and the rigid body assumption, which restricts load distribution analysis.Future work is recommended to refine gait planning for balanced energy use, incorporate compliant or flexible body structures, apply advanced finite element analysis for detailed stress assessment, and develop a physical prototype for experimental validation. Overall, this study advances the state of quadruped robot design by integrating a parallel gear-driven mechanism with stable gait control, providing a foundation for robust, heavy-duty robots suitable for hazardous industrial applications. SAMERDI Mechanical and Aeronautical Engineering MEng (Mechanical Engineering) Restricted Faculty of Engineering, Built Environment and Information Technology SDG-09: Industry, innovation and infrastructure 2026-02-18T06:27:31Z 2026-02-18T06:27:31Z 2026-04-19 2025-11-11 Dissertation * A2026 http://hdl.handle.net/2263/108357 10.25403/UPresearchdata.31353646 en © 2024 University of Pretoria. All rights reserved. The copyright in this work vests in the University of Pretoria. No part of this work may be reproduced or transmitted in any form or by any means, without the prior written permission of the University of Pretoria. application/pdf University of Pretoria |
| spellingShingle | UCTD Sustainable Development Goals (SDGs) Quadruped Robot Inverse Kinematics Inverse Dynamics Walking Gait Simscape Lewis bending stress analysis Simulation study for improving heavy payload legged robot locomotion capabilities through the use of a Marxplanar drive arrangement gearbox |
| title | Simulation study for improving heavy payload legged robot locomotion capabilities through the use of a Marxplanar drive arrangement gearbox |
| title_full | Simulation study for improving heavy payload legged robot locomotion capabilities through the use of a Marxplanar drive arrangement gearbox |
| title_fullStr | Simulation study for improving heavy payload legged robot locomotion capabilities through the use of a Marxplanar drive arrangement gearbox |
| title_full_unstemmed | Simulation study for improving heavy payload legged robot locomotion capabilities through the use of a Marxplanar drive arrangement gearbox |
| title_short | Simulation study for improving heavy payload legged robot locomotion capabilities through the use of a Marxplanar drive arrangement gearbox |
| title_sort | simulation study for improving heavy payload legged robot locomotion capabilities through the use of a marxplanar drive arrangement gearbox |
| topic | UCTD Sustainable Development Goals (SDGs) Quadruped Robot Inverse Kinematics Inverse Dynamics Walking Gait Simscape Lewis bending stress analysis |
| url | http://hdl.handle.net/2263/108357 |