Optimal 5R parallel leg design for quadruped robot gait cycle

Autor:	Prasanth Kumar R, Mangesh D. Ratolikar
Rok vydání:	2020
Předmět:	Computer science Materials Science (miscellaneous) Parallel manipulator Stiffness Gait cycle Industrial and Manufacturing Engineering Mechanism (engineering) Control theory Genetic algorithm medicine Robot Torque Stroke (engine) Business and International Management medicine.symptom
Zdroj:	Vibroengineering PROCEDIA. 35:94-98
ISSN:	2538-8479 2345-0533
Popis:	This paper presents the design of optimal dimensions for a two degrees of freedom parallel mechanism used in quadruped for walking application. Serial linkages or open link mechanisms have less stiffness and poor dynamic performance, thus parallel mechanisms were developed. Many researchers have used symmetrical parallel leg for quadruped walking but force requirements are different in forward and return stroke, thus unsymmetrical parallel leg may be optimal. Using genetic algorithm, optimum link length values are obtained and the corresponding peak torque is also found.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::4c3c3a0e1c7df536ae32862f0c6f2bc7 https://doi.org/10.21595/vp.2020.21806 Zobrazit plný text záznamu Plný text ve formátu PDF