Mechanical design of hydraulic actuated quadruped robot leg

Nowadays, the use of robots instead of humans has become extremely important, especially in dangerous areas. Search and rescue activities, firefighting, forestry, construction applications, reconnaissance in radioactive areas, transportation and military operations are the most important areas where robots can be used instead of humans. For this reason, many studies have been carried out on robot systems that can be used in these areas mentioned in recent years. These studies can be classified as wheeled, tracked and legged robots. Especially in rough and challenging terrain, Quadruped (four-legged) robots have a more effective use compared to wheeled and tracked robots in terms of freedom of movement. The high power requirement of the loads to be transported during the tasks in this type of robots has led to the need to integrate hydraulic drive systems into these robots. In this thesis, a Quadruped robot to be operated with a hydraulic drive; -Mechanical design of a leg with two degrees of freedom (3D CAD design) and related calculations will be made. -Mechanical stress analysis (finite element analysis) will be done in parallel with 3D CAD design -In order for the robot leg to move, the circuit diagram of the hydraulic power unit that will drive the system will be designed and related calculations will be made.