Walking Robot Leg Design Based on Translatory Straight-Line Generator

2020 ◽  
pp. 264-271
Author(s):  
Sayat Ibrayev ◽  
Nutpulla Jamalov ◽  
Amandyk Tuleshov ◽  
Assylbek Jomartov ◽  
Aidos Ibrayev ◽  
...  
Keyword(s):  
Walking Robot ◽  
Straight Line ◽  
Robot Leg ◽  
Leg Design

scholarly journals Linkage Design and Optimisation of a Hexapod Walking Robot Used For Surveillance

2019 ◽  
Vol 8 (11) ◽  
pp. 705-708
Keyword(s):  
Basic Structure ◽  
Walking Robots ◽  
Robot Design ◽  
Hexapod Robot ◽  
Walking Robot ◽  
Walking Gait ◽  
Linkage Design ◽  
Robot Leg ◽  
Leg Design ◽  
Basic Movement

The technological advancements at the global level have put in a large demand for walking robots in various industrial and domestic applications. The aim of the paper is to develop a Hexapod (robot with six legs) walking robot that is capable of performing basic movement, such as walking forward and backward, carry payloads and used as a surveillance device. A novel robot leg design has been created with Autodesk Fusion 360, linkage mechanisms of the robot leg is determined by using Linkage 2.0 software. Stress and displacement analysis was done in Autodesk fusion360 software in order to determine whether it can hold the self-weight of the robot and the desired payload to carry the surveillance purpose (i.e. medicine, water, blood etc.). Considering all the possibilities final optimized Hexapod robot design is created using Autodesk Fusion 360 software. Mainly, the undertaken design outline takes into account the fundamental features, such as basic structure, motion planning, payload and walking gait. Fabrication of Hexapod robot parts was completed using additive manufacturing technology FDM process.

Optimal Synthesis and Analysis of a New Leg Mechanism: The Planetary Gear Leg

1992 ◽  
Author(s):  
Ning-Xin Chen ◽  
Shin-Ming Song
Keyword(s):  
Planetary Gear ◽  
Optimization Method ◽  
Maximum Deviation ◽  
Walking Machine ◽  
Straight Line ◽  
Force Moment ◽  
Good Energy ◽  
Line Trajectory ◽  
Leg Design ◽  
Straight Line Trajectory

Abstract The leg mechanism of a walking machine has a strong influence on the performance of the machine. A successful leg mechanism should be energy efficient, compact in size, strong and simple. In order to achieve good energy efficiency, a walking machine leg should be able to generate an exact or approximate straight line at the foot with only one driving actuator. This paper deals with the synthesis and analysis of a new leg mechanism — the planetary gear leg mechanism. Four types of planetary gear legs are studied. By the SUMT optimization method, a 20 inch tall leg is able to generate an approximate straight line trajectory with a maximum deviation of 0.12805 inches in a 20 inch stroke. The direct and inverse kinematics and velocities of the legs are analyzed. Also, the distribution of actuator force/moment during walking are studied. The results show that this leg design has great potential to be used as a practical walking machine leg.

The ASURA I harvestman-like hexapod walking robot: compact body and long leg design

2016 ◽  
Vol 30 (23) ◽  
pp. 1467-1483 ◽  
Author(s):  
Ryuichi Hodoshima ◽  
Yoshikazu Ohura ◽  
Yuki Nishiyama ◽  
Akihiro Sakaki ◽  
Soichiro Watanabe ◽  
...  
Keyword(s):  
Walking Robot ◽  
Compact Body ◽  
Leg Design

scholarly journals CONTROL OF THE HEXAPOD WALKING ROBOT / ŠEŠIAKOJO ŽINGSNIUOJANČIO ROBOTO VALDYMAS

2013 ◽  
Vol 5 (2) ◽  
pp. 96-100
Author(s):  
Raimondas Zubavičius ◽  
Nerijus Paulauskas ◽  
Martynas Šapurov
Keyword(s):  
Inverse Kinematics ◽  
Servo Control ◽  
Movement Trajectory ◽  
Control Methods ◽  
Hexapod Robot ◽  
Walking Robot ◽  
Control Signals ◽  
Leg Movement ◽  
Robot Leg ◽  
Three Degree Of Freedom

The analysis focuses on control features of the hexapod walking robot with three degree-of-freedom legs. This paper describes different servo control methods and presents the developed algorithm for formation of servos control signals. The geometric inverse kinematics method was used to calculate the angles of each joint of a leg. The authors present the results of the experimental investigation on the hexapod robot leg movement trajectory. Article in Lithuanian. Santrauka Nagrinėjami šešiakojo žingsniuojančio roboto kojų, turinčių tris judrumo laipsnius, valdymo ypatumai. Aprašomi skirtingi valdomųjų mechanizmų valdymo būdai, pateikiamas sudarytas programos algoritmas valdomųjų mechanizmų valdymo signalams formuoti. Aprašyta, kaip randami atskirų roboto kojos dalių tarpusavio kampai taikant geometrinį atvirkštinės kinematikos metodą. Pateikiami šešiakojo žingsniuojančio roboto maketo tyrimo vienos kojos judėjimo erdvėje rezultatai.

On the planar stability of rigid-link binary walking robots

Robotica ◽  
2003 ◽  
Vol 21 (6) ◽  
pp. 667-675 ◽  
Author(s):  
Yu Zhou
Keyword(s):  
Simple Model ◽  
Walking Robots ◽  
Walking Robot ◽  
Research Results ◽  
Rigid Link ◽  
Straight Line ◽  
The Stability ◽  
State Nature

A binary walking robot moves as a result of bi-state actuator transitions. Because of the bi-state nature of binary joints, many research results about continuous walking robots cannot be applied to binary walking robots directly. In this paper, a new and simple model of rigid-link binary walking robot is proposed, around which related concepts are introduced, and formulas are derived. Based on this model, general characteristics and limitations of periodic gaits are discussed, and the stability qualities of several straight-line walking periodic gaits are studied in both pitch-greater-than-stroke and stroke-greater-than-pitch cases. Valuable results are obtained from the analysis, which should be followed in the design of rigid-link binary walking robots.

OPTIMAL DESIGN OF HEXAPOD WALKING ROBOT LEG STRUCTURE BASED ON ENERGY CONSUMPTION AND WORKSPACE

2014 ◽  
Vol 38 (3) ◽  
pp. 305-317 ◽  
Author(s):  
Ya-guang Zhu ◽  
Bo Jin ◽  
Wei Li ◽  
Shi-tong Li
Keyword(s):  
Energy Consumption ◽  
Optimal Design ◽  
Minimum Energy ◽  
Inequality Constraints ◽  
Optimal Parameters ◽  
Walking Robot ◽  
Total Energy Consumption ◽  
Joint Torques ◽  
Minimum Energy Consumption ◽  
Robot Leg

In order to achieve the optimal design of the hexapod walking robot leg structure, a combined index of energy consumption and workspace is raised. By deriving the energy consumption functions and analyzing the target workspace, a mathematical model of nonlinear programming with inequality constraints is established. The genetic algorithm coupled with inverse kinematics and trajectory planning in a gait period is utilized to solve the optimization problem. The analysis verifies that the requirements of turning and obstacle overcoming can be satisfied, and the total energy consumption can be reduced. The results show that the optimal parameters not only satisfy the requirement of the target workspace, but also achieve the minimum energy consumption and lower joint torques.

scholarly journals Robotic Modular Leg: Design, Analysis, and Experimentation

2017 ◽  
Vol 9 (2) ◽  
Author(s):  
Wael Saab ◽  
William S. Rone ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Dynamic Models ◽  
Degree Of Freedom ◽  
Experimental Results ◽  
Maximum Deviation ◽  
Parallel Orientation ◽  
Mechanical Constraints ◽  
Straight Line ◽  
Accuracy And Repeatability ◽  
Leg Design ◽  
Support Phase

This paper presents the design and analysis of a reduced degree-of-freedom (DOF) robotic modular leg (RML) mechanism. The RML is composed of a two serially connected four-bar mechanisms that utilize mechanical constraints between articulations to maintain a parallel orientation between the foot and body without the use of an actuated ankle. Kinematic and dynamic models are developed for the leg mechanism and used to analyze actuation requirements and aid motor selection. Experimental results of an integrated prototype tracking a desired foot trajectory are analyzed to improve the accuracy and repeatability of the mechanism. The prototype weighs 4.7 kg and measures 368 mm in a fully extended configuration and exhibits a maximum deviation from the straight line support phase equivalent to 5.2 mm.

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