Design and optimization of a one-degree-of-freedom six-bar leg mechanism for a walking machine

1997 ◽  
Vol 14 (12) ◽  
pp. 871-880 ◽  
Author(s):  
W.-B. Shieh ◽  
L.-W. Tsai ◽  
S. Azarm
Keyword(s):  
Degree Of Freedom ◽  
Walking Machine ◽  
Design And Optimization

Leg Lift During Non-Overconstrained Pseudo-Static Walking

1996 ◽  
Author(s):  
Chee K. Foo ◽  
Eugene F. Fichter ◽  
Becky L. Fichter
Keyword(s):  
Position Control ◽  
The Body ◽  
Degree Of Freedom ◽  
Walking Machine

Abstract A non-overconstrained pseudo-static walking machine has 1 leg joint under position control for every degree-of-freedom of the body. When 1 joint is position controlled on each of 6 legs, leg lift during a step results in 1 unregulated degree-of-freedom of the body. A second joint in one of the 5 legs that maintain contact with the ground must be switched to active position control at the same time that a foot is lifted. In theory any passively controlled joint in the 5 supporting legs may be chosen. However the requirement that no leg be in tension and practical limits on torques available from joint actuators severely restrict choice of both additional joint to actively position control and possible body positions where legs can be lifted.

Crank Arrangement on the Dynamics of a Quadruped Walking Machine

2015 ◽  
Vol 764-765 ◽  
pp. 213-217
Author(s):  
Fu Chen Chen ◽  
Shang Chen Wu ◽  
Yung Cheng Chen
Keyword(s):  
Dynamic Response ◽  
Dynamic Characteristics ◽  
Pitch Angle ◽  
Walking Machine ◽  
Design And Optimization ◽  
Future Design ◽  
Walking Machines ◽  
The One

The purpose of this study is to investigate the effect of crank arrangement on the dynamics of a quadruped walking machine. The dynamic characteristics of the walking machine, including the stance leg sequence, pitch angle and dynamic response of the quadruped walking machine are investigated and compared with the existing design. The results show that the phrase angle between front and rear legs on the same side should be 0o or 90o and the one between the legs on the different sides should be 180o. The results of this study can serve as a reference for future design and optimization of quadruped walking machines.

Analysis of a new single degree-of-freedom eight link leg mechanism for walking machine

2019 ◽  
Vol 140 ◽  
pp. 747-764 ◽  
Author(s):  
Shivamanappa G. Desai ◽  
Anandkumar R. Annigeri ◽  
A. TimmanaGouda
Keyword(s):  
Degree Of Freedom ◽  
Single Degree Of Freedom ◽  
Walking Machine ◽  
Single Degree

scholarly journals Hexapod with legs based on Peaucellier–Lipkin mechanisms

2018 ◽  
Vol 15 (4) ◽  
pp. 172988141879592 ◽  
Author(s):  
Ignacio Juárez-Campos ◽  
Diego A Núñez-Altamirano ◽  
Lucia Márquez-Pérez ◽  
Leonardo Romero-Muñoz ◽  
Beatriz Juárez-Campos
Keyword(s):  
Path Planning ◽  
Degrees Of Freedom ◽  
Degree Of Freedom ◽  
Mathematical Framework ◽  
Legged Robot ◽  
Specific Task ◽  
Spatial Description ◽  
Center Of Rotation ◽  
Walking Machine ◽  
The One

This article describes the way in which six nontraditional legs collaborate to provide locomotion to a walking machine when it moves along a path. Such legs are based on the one-degree-of-freedom Peaucellier–Lipkin mechanism, which was modified by the addition of four degrees of freedom. Such five-degree-of-freedom legs have the ability to adapt their postures according to the center of rotation around of which the machine walks. The attributes and abilities of the hexapod are expressed by means of a mathematical framework, which grants the spatial description and required joint variables, according to a specific task, resulting in the configuration of its legs for a particular path planning. Additionally, the article presents an illustrative example describing a detailed procedure concerning the configurations and collaboration of their legs according to an imposed center of rotation around of which the six-legged robot walks.

Design and Optimization of a Mechanism for Out-of-Plane Insect Winglike Motion With Twist

2005 ◽  
Vol 127 (4) ◽  
pp. 841-844 ◽  
Author(s):  
Sai K. Banala ◽  
Sunil K. Agrawal
Keyword(s):  
Degree Of Freedom ◽  
Scaled Model ◽  
Single Degree Of Freedom ◽  
Flight Data ◽  
Design And Optimization ◽  
Single Degree ◽  
Hawk Moth ◽  
Out Of Plane ◽  
Practical Feasibility

A mechanism is presented that can generate insect winglike motion. This motion includes both flapping out of the stroke plane in addition to twist of the wing. The mechanism has a single degree of freedom and employs a five-bar mechanism in addition to an auxiliary four-bar mechanism. The parameters in the mechanism were optimized to generate a prescribed motion of the wing taken from a hawk moth kinematic flight data. A scaled model of the mechanism was fabricated to verify practical feasibility of the design. In future, we will miniaturize this mechanism on our flying-bird prototypes.

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