In this paper we present the kinematic model of a biomechanism which represent the legs of a four legged mammal. The anterior legs and posterior are realized as plane mechanisms, with articulated bars. Each anterior leg has a complex structure with three closed contours, mean while each posterior leg has only two closed contours. Each mechanism is actuated by an electric motor. The geometric and kinematic modeling of the anterior leg mechanism is achieved by means of some vectorial and scalar equations. Also, the kinematic simulation is achieved by means of ADAMS software, considering as basis, the upper platform of each mechanism.
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