Novel Solution for Leg Motion with 5-Link Belt Mechanism

E.Ch., Lovasz; Pop, Cristian; Pop, F.; Dolga, Valer

doi:10.2478/ijame-2014-0048

Cited by 12 publications

(4 citation statements)

References 8 publications

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“…Also, previous studies regarding Jansen mechanism including kinematics, kinetostatics and dimensional synthesis, were conducted in order to implement this mechanism into the structure of quadruped prototype [10]. A solution for increasing the step height of the trajectory and adding another DOF to the Jansen leg mechanism by using a 5-link belt mechanism was presented in [11].…”

Section: Fig 1 Jansen Leg Mechanismmentioning

confidence: 99%

A Dynamic Analysis Based on MBD ADAMS Program for a Variant of Quadruped Robot

Pop

Lovasz

Dolga

et al. 2016

AMM

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For stability and impact reaction forces assessment of a quadruped robot during walking, a dynamic analysis is considered. For this purpose, a variant of a quadruped robot based on Jansen mechanism is presented. For interpreting the influence of the reaction forces from the ground during walking, the analysis was conducted with help of ADAMS software using a 3D model of the robot. Material specifications, forces and moments acting in the robot structure were considered. Graphical results obtained regarding the ground reaction forces are displayed. Also a reduced mass moment of inertia at the crankshaft is taken into consideration based on Lagrange motion equation and generalized coordinates.

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Section: Fig 1 Jansen Leg Mechanismmentioning

confidence: 99%

A Dynamic Analysis Based on MBD ADAMS Program for a Variant of Quadruped Robot

Pop

Lovasz

Dolga

et al. 2016

AMM

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“…The roll of each section, coupled with rotation of the U-shaped front and rear legs, allows the robot to move forward. Furthermore, single-DOF crank driven mechanisms [8,[14][15][16][17][18][19][20][21], and two-DOF legs that generate an approximately straight-line support phase foot trajectories [22,23] have been proposed for the construction of legged robots for simplified control and design complexity. To build an easy-to-use and light legged platform for tail research purposes, the authors also proposed a reduced-DOF leg mechanism named Robotic Modular Leg (RML) [24,25], which has two DOFs per leg and can be implemented in a quadruped or biped robot in a modular manner.…”

Section: Introductionmentioning

confidence: 99%

Reuleaux Triangle–Based Two Degrees of Freedom Bipedal Robot

et al. 2021

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This paper presents the design, modeling, analysis, and experimental results of a novel bipedal robotic system that utilizes two interconnected single degree-of-freedom (DOF) leg mechanisms to produce stable forward locomotion and steering. The single DOF leg is actuated via a Reuleaux triangle cam-follower mechanism to produce a constant body height foot trajectory. Kinematic analysis and dimension selection of the Reuleaux triangle mechanism is conducted first to generate the desired step height and step length. Leg sequencing is then designed to allow the robot to maintain a constant body height and forward walking velocity. Dynamic simulations and experiments are conducted to evaluate the walking and steering performance. The results show that the robot is able to control its body orientation, maintain a constant body height, and achieve quasi-static locomotion stability.

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“…The roll of the body coupled with rotation of U-shaped front and rear legs with point contact feet caused the robot to move forward. There has also been considerable amounts of research in 1DOF crank-driven mechanisms [14][15][16][17][18], 2DOF leg designs [19,20] that approximate straight line foot paths similar to the Jansen mechanism path curve, and passive dynamic walkers [21] that utilize less control and energy in comparison to powered robots.…”

Section: Introductionmentioning

confidence: 99%

Robotic Modular Leg: Design, Analysis, and Experimentation

Saab

Rone

Ben-Tzvi

2017

Journal of Mechanisms and Robotics

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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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Novel Solution for Leg Motion with 5-Link Belt Mechanism

Cited by 12 publications

References 8 publications

A Dynamic Analysis Based on MBD ADAMS Program for a Variant of Quadruped Robot

A Dynamic Analysis Based on MBD ADAMS Program for a Variant of Quadruped Robot

Reuleaux Triangle–Based Two Degrees of Freedom Bipedal Robot

Robotic Modular Leg: Design, Analysis, and Experimentation

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