Integrated design of legged mechatronic system

Chen, Chin-Yin; Chen, I‐Ming; Cheng, Chi‐Cheng

doi:10.1007/s11465-009-0060-7

Cited by 5 publications

(9 citation statements)

References 12 publications

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“…He also suggests the use of testing involving rapid control prototyping-called "rapid prototyping" in the article-and HIL simulation (Lennon 2008). RCP is also used by Chen et al (2009) and Lapusan et al (2010), and can be paired with HIL. Chen et al (2009) also implement the design for control (DFC) method, which develops mechanical and controller design concurrently, as opposed to the design then control method (Chen et al 2009).…”

Section: Model-based and Modelling Concepts And Techniquesmentioning

confidence: 99%

“…RCP is also used by Chen et al (2009) and Lapusan et al (2010), and can be paired with HIL. Chen et al (2009) also implement the design for control (DFC) method, which develops mechanical and controller design concurrently, as opposed to the design then control method (Chen et al 2009). DFC was introduced and applied to mechatronics by Li et al (2001).…”

Section: Model-based and Modelling Concepts And Techniquesmentioning

confidence: 99%

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Organizing the fragmented landscape of multidisciplinary product development: a mapping of approaches, processes, methods and tools from the scientific literature

et al. 2022

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The fourth industrial revolution is shaping a new industrial landscape. A variety of technologies related to software, information and communication technologies embody a ubiquitous digital and connectivity era. These technologies enable the creation of new products with the integration of connectivity, data collection and processing capacities which require combining engineering disciplines. Increasing product multidisciplinarity compels companies to adapt their product development practices. The scientific literature offers a variety of concepts and techniques to support multidisciplinary product development. This paper seeks to organize the landscape of concepts and techniques available for multidisciplinary product development. An extensive literature review was conducted, and 236 concepts and techniques were identified. Multidisciplinary products of interest deal with both software and hardware development and can be encountered through the denominations of cyber-physical systems, mechatronics and smart products and systems. An in-depth analysis led to the classification and mapping, for each product denomination, of the concepts and techniques available to support their development. The classification relies on a four-level model paired with a decision tree to thoroughly sort the variety of concepts and techniques into the approach, process, method, and tool levels. The mapping between the sorted concepts and techniques enabled the generation of graphical representations called cartographies. These cartographies serve to support companies’ transformation towards the fourth industrial revolution from the product development perspective by giving a general overview of the related literature, and guiding them in the identification of the most suitable approaches, processes, methods and tools.

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Section: Model-based and Modelling Concepts And Techniquesmentioning

confidence: 99%

Section: Model-based and Modelling Concepts And Techniquesmentioning

confidence: 99%

Organizing the fragmented landscape of multidisciplinary product development: a mapping of approaches, processes, methods and tools from the scientific literature

et al. 2022

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Section: Introductionmentioning

confidence: 99%

“…Mobile robot is developed mainly in the wheel mode, the leg mode and the track mode. In the field, the legged robot has attracted wide attention because of its outstanding mobility and flexibility on complex ground (Chen et al, 2009; Ilhan et al, 2018; Raibert, 1986). Benefitting from the smooth foot trajectory and the discrete footholds, the robot can traverse the rough terrains with great maneuverability, and it is proved to be a reasonable choice regarding stability, redundancy, weight, and energy consumption (Kajita & Espiau, 2008; Liu et al, 2020; Pan & Gao, 2013).…”

Section: Introductionmentioning

confidence: 99%

A portable off‐road crawling hexapod robot

Yao

Liu

et al. 2022

Journal of Field Robotics

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Legged robot has attracted wide attention because of its outstanding mobility and flexibility in the off‐road environment. Benefitting from the smooth foot trajectory and the discrete footholds, the robot can traverse the rough terrains with a great maneuverability. This paper studies a portable off‐road crawling hexapod robot with a flat structure of Schatz linkage. The proposed crawling hexapod robot could be stacked flatly with a compact size, which is good for storage and transportation. What's more, the robot could play an important role in the search and rescue mission. It could protect the operator from an incident like a collapsing wall. The robot has four locomotion gaits to meet different demands on rough terrains, including the hexapod gait, the tripod gait, the butterfly stroke gait, and the escape gait. A prototype of the robot system is fabricated. A series of experiments and simulated search and rescue missions are conducted, and the results verify that the robot could traverse through the rough terrain and complete the tasks required in the search and rescue mission.

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“…The generated trajectory can subsequently be amplified by means of a second mechanism to increase motion range. Compact solutions where amplification is attained by means of an embedded pantograph have been proposed in the literature [3,4]. One of the most common trajectory generators is the Hoeckens linkage, also referred to as Chebychev's Lambda mechanism.…”

Section: Introductionmentioning

confidence: 99%

Analysis and Design of a Two Degree of Freedom Hoeckens-Pantograph Leg Mechanism

Fedorov

Birglen

2015

Volume 5B: 39th Mechanisms and Robotics Conference

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Hoeckens and Chebychev linkages have been widely discussed in the literature as design solutions to build single degree of freedom (DOF) leg mechanisms. Compared to fully actuated legs, often bio-inspired, they offer an unmatched simplicity. However, due to their limited motion capability, they can only be used when the traversed terrain is of limited difficulty. In order to alleviate this drawback, a novel design with a second DOF is proposed in this paper. The introduced mechanism is composed of a Hoeckens linkage augmented by a Pantograph for which the position of the pivot can be changed through an additional rotating link. Screw theory is used to determine the kinematic equations of the mechanism, its singular configurations, and its attainable workspace. Subsequently, an optimization of the geometric parameters is performed to maximize performance indices pertaining to the size of the mechanism’s workspace. Finally, possible use of compliant joints is discussed.

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Integrated design of legged mechatronic system

Cited by 5 publications

References 12 publications

Organizing the fragmented landscape of multidisciplinary product development: a mapping of approaches, processes, methods and tools from the scientific literature

Organizing the fragmented landscape of multidisciplinary product development: a mapping of approaches, processes, methods and tools from the scientific literature

A portable off‐road crawling hexapod robot

Analysis and Design of a Two Degree of Freedom Hoeckens-Pantograph Leg Mechanism

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