Type synthesis of a class of novel 3-DOF single-loop parallel leg mechanisms for walking robots

2020 ◽  
Vol 145 ◽  
pp. 103695 ◽  
Author(s):  
Luquan Li ◽  
Yuefa Fang ◽  
Sheng Guo ◽  
Haibo Qu ◽  
Lin Wang
Keyword(s):  
Walking Robots ◽  
Type Synthesis ◽  
Single Loop ◽  
Leg Mechanisms

Type synthesis of a family of novel parallel leg mechanisms driven by a 3-DOF drive system

2022 ◽  
Vol 167 ◽  
pp. 104572
Author(s):  
Luquan Li ◽  
Yuefa Fang ◽  
Jiaqiang Yao ◽  
Lin Wang
Keyword(s):  
Drive System ◽  
Type Synthesis ◽  
Leg Mechanisms

Type synthesis of 2R2T parallel mechanisms based on motion equivalent chain method

2014 ◽  
Vol 228 (17) ◽  
pp. 3209-3217 ◽  
Author(s):  
Wei Ye ◽  
Yuefa Fang ◽  
Sheng Guo ◽  
Haibo Qu
Keyword(s):  
Parallel Mechanism ◽  
Screw Theory ◽  
Parallel Mechanisms ◽  
Motion Pattern ◽  
Type Synthesis ◽  
Constraint Force ◽  
Single Loop ◽  
Loop Chain ◽  
Serial Chains

In this paper, the motion equivalent chain method is proposed and then applied to the type synthesis of a class of 2R2T parallel mechanism. The equivalent serial chains are synthesized for a specific 2R2T motion pattern based on screw theory. Feasible limb structures that provide a constraint couple and a constraint force are enumerated according to the reciprocity of the twist and wrench systems. Several motion equivalent single loop chains are constructed with the equivalent serial chains. Using motion equivalent single loop chains to replace the equivalent serial chains, a class of 2R2T parallel mechanisms is obtained based on the foundation of motion equivalent single loop chain structures.

Complexity Criteria for the Preliminary Design Stage of Walking Robots

2017 ◽  
Author(s):  
Da Xi ◽  
Feng Gao
Keyword(s):  
Walking Robots ◽  
Design Stage ◽  
Structure Parameters ◽  
Preliminary Design ◽  
Walking Robot ◽  
Type Synthesis ◽  
End Effector ◽  
Iterative Design ◽  
Preliminary Design Stage ◽  
Kinematic Performance

This paper introduces several complexity-based criteria for walking robots at the preliminary design stage. The motivation lies in filtering optimal leg types or body layouts to reduce cost at later iterative-design stage. Several qualitative or semi-quantitative criteria are proposed for walking robot designers. For different type-synthesis results of robot legs, three criteria are proposed named the uncertainty of the end-effector, the complexity of control and the complexity of movement. For different layouts of robot bodies, two kinematic criteria are proposed named the complexity of translation and the complexity of rotation. These criteria could together judge the kinematic performance or potential for a walking robot with the least structure parameters at the conceptual-design stage. Several prototypes in the researchers’ lab are evaluated with the criteria, and the results are compared with the experimental data to proof the validity.

Type Synthesis for Bionic Quadruped Walking Robots

2015 ◽  
Vol 12 (4) ◽  
pp. 527-538 ◽  
Author(s):  
Jun He ◽  
Feng Gao
Keyword(s):  
Walking Robots ◽  
Type Synthesis

Type synthesis of spatial mechanisms on the basis of spatial single loop structural groups

1985 ◽  
Vol 20 (2) ◽  
pp. 95-101 ◽  
Author(s):  
Rasim I Alizade ◽  
E.T Hajiyev ◽  
George N Sandor
Keyword(s):  
Type Synthesis ◽  
Single Loop ◽  
Spatial Mechanisms

Study on Mechanics Structural Synthesis of Six-Legged Walking Robot with Parallel Leg Mechanisms

2012 ◽  
Vol 496 ◽  
pp. 247-250 ◽  
Author(s):  
Yu Rong ◽  
Zhen Lin Jin ◽  
Meng Ke Qu
Keyword(s):  
Theoretical Foundation ◽  
Screw Theory ◽  
Synthesis Method ◽  
Specific Structure ◽  
Legged Robot ◽  
Walking Robot ◽  
Type Synthesis ◽  
Structural Synthesis ◽  
Manifold Theory ◽  
Leg Mechanisms

In order to use the parallel leg mechanisms in the six-legged robot, a six-legged walking robot with parallel leg mechanisms was presented. A six-legged walking robot type synthesis method based on screw theory was proposed. By this method, the paper carried on the structural synthesis of whole robot and the parallel leg mechanisms. 2-UPS&UP mechanism was chosen as the leg mechanism of the six-legged walking robot. 2-UPS&UP mechanism had been proven not to be an instantaneous mechanism by the displacement manifold theory. The specific structure of the six-legged walking robot based on2-UPS&UP mechanism was designed. These studies laid the theoretical foundation for further study of the six-legged walking robot. This type synthesis method could be used for the design of other multi-legged walking robot.

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