Topological Analysis of a Novel Compact Omnidirectional Three-Legged Robot with Parallel Hip Structures Regarding Locomotion Capability and Load Distribution

Feller, David; Siemers, Christian

doi:10.3390/robotics10040117

Cited by 4 publications

(5 citation statements)

References 25 publications

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“…A similar approach was employed for the surgery robot in [14] that is based on a spherical parallel mechanism architecture and can support large load forces through an additional spherical joint placed in the manipulator centre. In a similar manner, our initial design of the robot in [34] utilized a passive spherical support joint as well. However, by replacing this spherical joint with an universal type mechanism that rotates with respect to the robot torso-equivalent to a serial RRR-joint-we can take advantage of the space within the hip centre, as it is required for the torque transmission from the actuators towards the knee joints.…”

Section: A the Robot Conceptmentioning

confidence: 99%

“…Initially, in [34] we presented a conceptual design of the robot, showing that legged locomotion over flat terrain is a feasible task with the general topology, utilizing a rigid-body simulation and a joint space PID control scheme. In [35] we substantially reworked the overall design and built a real world prototype of one of its legs.…”

Section: B Related Workmentioning

confidence: 99%

“…The focus of this article lies on the complete mathematical derivation of the solution to the inverse and the forward TABLE 1. Properties of the robot, derived from CAD based calculations, practical measurements and previous works [33], [34], [35].…”

Section: Article Scopementioning

confidence: 99%

“…The rest of the article is organized as follows: Sec. II briefly describes the robot model, initially presented in our previous works [33], [34], [35] and derives the representation model for the kinematics analysis. Sec.…”

Section: E Article Structurementioning

confidence: 99%

“…However, the robot features the intricate combination of several mechanical ideas, which-as future work will investigate-might prove itself sufficient to allow for energy efficient legged locomotion. In this regard, as the robot design and a selection of its properties were discussed in our previous works [33], [34], [35], this article solely focusses on the complete inverse and forward kinematics of the robot. Since the robot consists of a large number of manifoldly connected mechanical parts in multiple interwoven closed loops, the kinematics of this robot are rather involved.…”

Section: Introductionmentioning

confidence: 99%

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Kinematics of a Novel Serial-Parallel, Compliant, Three-Legged Robot

Feller

2023

IEEE Access

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In this article, the solution to the inverse and forward kinematics of a novel three-legged, serialparallel, compliant robot are presented. The design of the robot aims to combine properties from serial and parallel architectures, thereby targeting an agile, yet precisely controllable robot that possibly allows both for dynamic locomotion and accurate manipulation tasks. The robot embodies the series connection of two parallel architectures, a planar and a spherical mechanism, realized in a highly dense mechanical assembly, allowing for lightweight, functionally redundant and compliant 4-DOF legs. A hybrid compliance behaviour is achieved, serving as a threshold between a stiff and compliant systemic state of the robot. Based on the mechanism design, the study involves the derivation of an alternative, yet complete solution for the inverse and forward kinematics of the spherical parallel manipulator (SPM). The approach utilizes spherical trigonometry and spatial vector geometry and yields a unique solution, while being both easy to implement and numerically efficient, thereby being applicable to real time implementations. Conceptually, a reduction of the mechanism assembly and working modes was directly integrated into the solution terms, drastically simplifying the expressions as they only represents the mechanically meaningful configuration relevant for actual physical systems. In addition to the active joint coordinates, the solution yields a unique set of all passively driven joints. The derived robot kinematics are furthermore verified through a 3D simulation model, showing the robot performing several motions. Thereby, the simulations portray the characteristics of the motor units by means of their corresponding phase profiles, revealing a balanced utilisation.INDEX TERMS Forward kinematics, inverse kinematics, legged robot, mechanical design, serial-parallel mechanism, spherical parallel manipulator.

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Section: A the Robot Conceptmentioning

confidence: 99%

Section: B Related Workmentioning

confidence: 99%

Section: Article Scopementioning

confidence: 99%

Section: E Article Structurementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Kinematics of a Novel Serial-Parallel, Compliant, Three-Legged Robot

Feller

2023

IEEE Access

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Dexterity, Workspace and Performance Analysis of the Conceptual Design of a Novel Three-legged, Redundant, Lightweight, Compliant, Serial-parallel Robot

Feller

2023

J Intell Robot Syst

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In this article, the mechanical design and analysis of a novel three-legged, agile robot with passively compliant 4-degrees-of-freedom legs, comprising a hybrid topology of serial, planar and spherical parallel structures, is presented. The design aims to combine the established principle of the Spring Loaded Inverted Pendulum model for energy efficient locomotion with the accuracy and strength of parallel mechanisms for manipulation tasks. The study involves several kinematics and Jacobian based analyses that specifically evaluate the application of a non-overconstrained spherical parallel manipulator as a robot hip joint, decoupling impact forces and actuation torques, suitable for the requirements of legged locomotion. The dexterity is investigated with respect to joint limits and workspace boundary contours, showing that the mechanism stays well conditioned and allows for a sufficient range of motion. Based on the functional redundancy of the constrained serial-parallel architecture it is furthermore revealed that the robot allows for the exploitation of optimal leg postures, resulting in the possible optimization of actuator load distribution and accuracy improvements. Consequently, the workspace of the robot torso as additional end-effector is investigated for the possible application of object manipulation tasks. Results reveal the existence of a sufficient volume applicable for spatial motion of the torso in the statically stable tripodal posture. In addition, a critical load estimation is derived, which yields a posture dependent performance index that evaluates the risks of overload situations for the individual actuators.

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Parallel–Serial Robotic Manipulators: A Review of Architectures, Applications, and Methods of Design and Analysis

Antonov

2024

Machines

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Parallel–serial (hybrid) manipulators represent robotic systems composed of kinematic chains with parallel and serial structures. These manipulators combine the benefits of both parallel and serial mechanisms, such as increased stiffness, high positioning accuracy, and a large workspace. This study discusses the existing architectures and applications of parallel–serial robots and the methods of their design and analysis. The paper reviews around 500 articles and presents over 150 architectures of manipulators used in machining, medicine, and pick-and-place tasks, humanoids and legged systems, haptic devices, simulators, and other applications, covering both lower mobility and kinematically redundant robots. After that, the paper considers how researchers have developed and analyzed these manipulators. In particular, it examines methods of type synthesis, mobility, kinematic, and dynamic analysis, workspace and singularity determination, performance evaluation, optimal design, control, and calibration. The review concludes with a discussion of current trends in the field of parallel–serial manipulators and potential directions for future studies.

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Topological Analysis of a Novel Compact Omnidirectional Three-Legged Robot with Parallel Hip Structures Regarding Locomotion Capability and Load Distribution

Cited by 4 publications

References 25 publications

Kinematics of a Novel Serial-Parallel, Compliant, Three-Legged Robot

Kinematics of a Novel Serial-Parallel, Compliant, Three-Legged Robot

Dexterity, Workspace and Performance Analysis of the Conceptual Design of a Novel Three-legged, Redundant, Lightweight, Compliant, Serial-parallel Robot

Parallel–Serial Robotic Manipulators: A Review of Architectures, Applications, and Methods of Design and Analysis

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