Kinematic synthesis method for the one-degree-of-freedom jumping leg mechanism of a locust-inspired robot
| Autor: | Xingkun Liu, Ziqiang Zhang, Jing Zhao, Qi Yang, Bin Chang |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
Kinematic chain
Computer science Constraint (computer-aided design) General Engineering 02 engineering and technology Kinematics 010402 general chemistry 021001 nanoscience & nanotechnology 01 natural sciences 0104 chemical sciences Computer Science::Robotics Mechanism (engineering) Superposition principle Control theory Robot Leg mechanism General Materials Science 0210 nano-technology Configuration design |
| Zdroj: | Science China Technological Sciences. 63:472-487 |
| ISSN: | 1869-1900 1674-7321 |
| Popis: | The one-degree-of-freedom (DOF) mechanism has a simple structure, convenient control, and high stiffness, and it has been applied in many micro jumping robots. Meanwhile, the six- and eight-bar mechanisms can satisfy more complex motion requirements than the four-bar jumping leg mechanism and they have good application prospects. However, the lack of effective design methods limits the application range of these mechanisms. In this work, a type and dimensional integration synthesis method was proposed with the one-DOF six-bar leg mechanism as the research object. The initial tibia and femur were determined based on the kinematic chain atlas, and configuration design was implemented through the superposition of links. When a closed chain was formed in the superposition process, the feasible range of the link length was analyzed by considering the constraint conditions. The proposed method innovatively establishes the relationship between the kinematic chain atlas and the configuration, and the feasible length ranges of the links can be quickly obtained simultaneously. Several examples were provided to prove the feasibility of the kinematic synthesis method. This method provides a useful reference for the design of one-DOF mechanisms. |
| Databáze: | OpenAIRE |
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