Type Synthesis of Walking Robot Legs

Abstract

Walking robots use leg structures to overcome obstacles or move on complicated terrains. Most robots of current researches are equipped with legs of simple structure. The specific design method of walking robot legs is seldom studied. Based on the generalized-function (GF) set theory, a systematic type synthesis process of designing robot legs is introduced. The specific mobility of robot legs is analyzed to obtain two main leg types as the goal of design. Number synthesis problem is decomposed into two stages, actuation and constraint synthesis by name, corresponding to the combinatorics results of linear Diophantine equations. Additional restrictions are discussed to narrow the search range to propose practical limb expressions and kinematic-pair designs. Finally, all the fifty-one leg structures of four subtypes are carried out, some of which are chosen to make up robot prototypes, demonstrating the validity of the method. This paper proposed a novel type synthesis methodology, which could be used to systematically design various practical robot legs and the derived robots. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

A New Metamorphic Parallel Leg Mechanism with Reconfigurable Moving Platform

“…To realize discontinuous contacts with three-dimensional terrains for a walking robot, a walking leg mechanism should have at least three spatial degrees of freedom, which moreover should include at least one prismatic degree of freedom in order to adapt to the terrain well and decrease foot-ground impact [13]. A mammalian leg generally contains two rotational degrees of freedom around the hip joint and one translational degree of freedom [13].…”

“…To realize discontinuous contacts with three-dimensional terrains for a walking robot, a walking leg mechanism should have at least three spatial degrees of freedom, which moreover should include at least one prismatic degree of freedom in order to adapt to the terrain well and decrease foot-ground impact [13]. A mammalian leg generally contains two rotational degrees of freedom around the hip joint and one translational degree of freedom [13]. e leg with such 2R1T (where R denotes a rotational degree of freedom and T denotes a translational degree of freedom) degrees of freedom is easy to control and can walk quickly but is not flexible enough to turn; it therefore may lead to the overall instability of the robot.…”

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“…1. The role of scissors mechanisms as transmission systems has been previously explored in [33] and [34]. Incorporating it gives the bio-inspired leg design certain desirable properties as will be discussed in the following sections.…”

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“…The robot has a physical form and actuators designed to be able to move and resolve tasks [4]. In order to obtain a wellcoordinated movement, it is required to make a method of movement for the robot [5]. One such method is the Kinematics method.…”