Designing and Kinematics Analysis on Running Mechanism of Biped Robot for Water-Running

Abstract

A mechanism based on a Grashof crank-link mechanism and a hybrid-drive six-linkage mechanism is designed to fit its ankle and sole trajectories and imitate the function of the basilisk lizard running on water. The linkage mechanism kinematics theory and the geometric identity condition are used to analyze the mechanism kinematics, and an instance simulation is carried out to prove that the mechanism can satisfy the kinematics requirements of water-running.

Influence of Deformation Rate on Overload Performance and Microstructure of Spot Welded Metastable Austenitic Stainless Steel

“…Plastic performance of matrix austenite and ferrite dominated the first stage of the deformation behaviors, and strain induced α´ martensite transformation dominated the second stage of the behaviors. Weld metals composed of dual-phase austenite and ferrite usually present a higher yield strength and work hardening rate under fast strain rate in the early stage due to more dislocations activated and less adiabatic heating effect [5,6] . Metastable austenitic stainless steels deforming with slow strain rate perform higher work hardening rates and obtain longer plastic displacements because of more α´ martensite induced by deformation [7] .…”

Design of a bipedal robot for water running based on a six-linkage mechanism inspired by basilisk lizards

“…Floyd and Keegan designed a four-linkage mechanism to drive a quadruped water running robot and experimentally verified that the quadruped robot could generate a maximum lift of 50 g W −1 [3,16]. Xu and Mei et al designed a Watt-I type planar linkage mechanism to drive the legged water running robot, analyzed the kinematics and dynamics issues during the robot's motion process, and the experiment verifies that the robot can produce an average total force of 1.3 N for lifting and propulsion during the motion process [17][18][19][20]. Kim and Liu et al conducted experimental research on the influence of foot shape and gait on the lift and balance ability of water running robots, proposed a water running robot based on the Klann mechanism, and summarized an optimization design method to make the movement trajectory more similar to lizards, and derived the relationships between the parameters such as frequency of the leg and the performance of the water running motion such as running speed and pitching stability, which provided a theoretical basis for enhancing the robot's ability to run on water [21][22][23][24][25].…”