Linkages for Leg Mechanisms

2015 ◽  
pp. 1-22 ◽  
Keyword(s):  
Leg Mechanisms

scholarly journals Modeling, comparison and evaluation of one-DOF six-bar bioinspired jumping leg mechanisms

2021 ◽  
Vol 13 (2) ◽  
pp. 168781402199295
Author(s):  
Ziqiang Zhang ◽  
Qi Yang ◽  
Xingkun Liu ◽  
Chuanzhong Zhang ◽  
Jinnong Liao
Keyword(s):  
Center Of Mass ◽  
Principal Component ◽  
Analysis Method ◽  
Index Distribution ◽  
Inertial Moment ◽  
Structure Index ◽  
Mean And Variance ◽  
Research Objects ◽  
Leg Mechanisms ◽  
Selection Of

One degree-of-freedom (DOF) jumping leg has the advantages of simple control and high stiffness, and it has been widely used in bioinspired jumping robots. Compared with four-bar jumping leg, six-bar jumping leg mechanism can make the robot achieve more abundant motion rules. However, the differences among different configurations have not been analyzed, and the choice of configurations lacks basis. In this study, five Watt-type six-bar jumping leg mechanisms were selected as research objects according to the different selection of equivalent tibia, femur and trunk link, and a method for determining the dimension of the jumping leg was proposed based on the movement law of jumping leg of locust in take-off phase. On this basis, kinematics indices (sensitivity of take-off direction angle and trunk attitude angle), dynamics indices (velocity loss, acceleration fluctuation, and mean and variance of total inertial moment) and structure index (distribution of center of mass) were established, and the differences of different configurations were compared and analyzed in detail. Finally, according to the principal component analysis method, the optimal selection method for different configurations was proposed. This study provides a reference for the design of one DOF bioinspired mechanism.

Design and operation of a tripod walking robot via dynamics simulation

Robotica ◽  
2010 ◽  
Vol 29 (5) ◽  
pp. 733-743 ◽  
Author(s):  
Conghui Liang ◽  
Hao Gu ◽  
Marco Ceccarelli ◽  
Giuseppe Carbone
Keyword(s):  
Mechanical Design ◽  
Low Cost ◽  
Three Dimensional ◽  
The Body ◽  
Dynamics Simulation ◽  
Walking Ability ◽  
Walking Robot ◽  
Three Dimensional Model ◽  
Software Environment ◽  
Leg Mechanisms

SUMMARYA mechanical design and dynamics walking simulation of a novel tripod walking robot are presented in this paper. The tripod walking robot consists of three 1-degree-of-freedom (DOF) Chebyshev–Pantograph leg mechanisms with linkage architecture. A balancing mechanism is mounted on the body of the tripod walking robot to adjust its center of gravity (COG) during walking for balancing purpose. A statically stable tripod walking gait is performed by synchronizing the motions of the three leg mechanisms and the balancing mechanism. A three-dimensional model has been elaborated in SolidWorks® engineering software environment for a characterization of a feasible mechanical design. Dynamics simulation has been carried out in the MSC.ADAMS® environment with the aim to characterize and to evaluate the dynamic walking performances of the proposed design with low-cost easy-operation features. Simulation results show that the proposed tripod walking robot with proper input torques, gives limited reaction forces at the linkage joints, and a practical feasible walking ability on a flatten ground.

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

An Approach for the Design of Walking Humanoid Robots Having Different Leg Mechanisms and Using Dynamic Gaits

2001 ◽  
Author(s):  
Olivier Bruneau ◽  
Fethi Ben Ouezdou ◽  
Jean-Guy Fontaine
Keyword(s):  
Design Process ◽  
Humanoid Robots ◽  
Bipedal Robots ◽  
The Third ◽  
Simulation Results ◽  
Leg Mechanisms

Abstract This article describes a method to design humanoid robots and to generate their dynamic gaits. Firstly, the global design process which defines structures able to carry out dynamic locomotion tasks is explained. Secondly, a set of leg mechanisms are described to generate these tasks. The third section describes a method to produce intrinsic smooth motions for fest walking gaits of bipedal robots having different leg mechanisms. Finally, some simulation results are given.

scholarly journals Three-dimensional walking of a simulated muscle-driven quadruped robot with neuromorphic two-level central pattern generators

2019 ◽  
Vol 16 (6) ◽  
pp. 172988141988528
Author(s):  
Yasushi Habu ◽  
Keiichiro Uta ◽  
Yasuhiro Fukuoka
Keyword(s):  
Three Dimensional ◽  
Central Pattern Generators ◽  
Pattern Generator ◽  
Quadruped Robot ◽  
Neural Systems ◽  
Rhythm Generation ◽  
Pattern Generators ◽  
Cat Model ◽  
Muscle Models ◽  
Leg Mechanisms

We aim to design a neuromorphic controller for the locomotion of a quadruped robot with muscle-driven leg mechanisms. To this end, we use a simulated cat model; each leg of the model is equipped with three joints driven by six muscle models incorporating two-joint muscles. For each leg, we use a two-level central pattern generator consisting of a rhythm generation part to produce basic rhythms and a pattern formation part to synergistically activate a different set of muscles in each of the four sequential phases (swing, touchdown, stance, and liftoff). Conventionally, it was difficult for a quadruped model with such realistic neural systems and muscle-driven leg mechanisms to walk even on flat terrain, but because of our improved neural and mechanical components, our quadruped model succeeds in reproducing motoneuron activations and leg trajectories similar to those in cats and achieves stable three-dimensional locomotion at a variety of speeds. Moreover, the quadruped is capable of walking upslope and over irregular terrains and adapting to perturbations, even without adjusting the parameters.

scholarly journals Synthesis of Leg-Mechanisms of Biped Walking Machines : Part I, Synthesis of Ankle-Path-Generator

1985 ◽  
Vol 28 (237) ◽  
pp. 537-543 ◽  
Author(s):  
Hiroaki FUNABASHI ◽  
Kiyoshi OGAWA ◽  
Yasuo GOTOH ◽  
Fumio KOJIMA
Keyword(s):  
Biped Walking ◽  
Walking Machines ◽  
Leg Mechanisms

Modelling and optimised gait planning of biped robots with different leg mechanisms

2021 ◽  
Vol 37 (2) ◽  
pp. 176
Author(s):  
Behnam Dadashzadeh ◽  
Akbar Allahverdizadeh ◽  
Mehdi Azhdarzadeh
Keyword(s):  
Biped Robots ◽  
Gait Planning ◽  
Leg Mechanisms

On the Design of a Self-Balanced Quadruped Walking Machine With Ten-Bar Leg Mechanisms

2009 ◽  
Author(s):  
Hong-Sen Yan ◽  
Chih-Yung Huang
Keyword(s):  
Control Method ◽  
Optimization Technique ◽  
Speed Ratio ◽  
Dimensional Synthesis ◽  
Force Transmission ◽  
Walking Machine ◽  
The Stability ◽  
Leg Mechanisms ◽  
Support Phase ◽  
Foot Trajectory

A self-balanced quadruped walking machine with leg mechanisms of 10-bar linkage is designed by a systematic approach. At first, an existing leg mechanism of 10-bar linkage is selected as the tentative design, and the dimensional synthesis is performed to obtain the desired foot trajectory by the optimization technique of ALM. Next, the speed ratio between the crank speed during the support phase and that during the transfer phase is decided by a two-speed control method to achieve a sufficient time period of support phase. Then, in order to make sure that there are always at least three legs on the ground for the wave gait to enhance the stability of locomotion, the foot point of each leg at a specific time is placed on the specific position upon the foot trajectory. The force analysis and computer simulation are carried out to evaluate the requirements for driving and to recognize the characteristics of the designed walking machine. And, the force transmission during the full cycle is realized and the specification of the driving motor is decided. Finally, a prototype of the designed quadruped walking machine is constructed and it is proven that this design is practical and feasible.

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