Dynamics of a novel robotic leg based on the Peaucellier–Lipkin mechanism on linear paths during the transfer phase
| Autor: | Lucia Márquez-Pérez, Ociel Flores-Díaz, Diego Alfredo Núñez-Altamirano, Leonardo Romero-Muñoz, Ignacio Juárez-Campos |
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| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Straight path Computer science lcsh:Mechanical engineering and machinery Mechanical Engineering Dynamics (mechanics) Phase (waves) 02 engineering and technology Kinematics Linkage (mechanical) Lagrangian dynamics law.invention Computer Science::Robotics Mechanism (engineering) 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Control theory law lcsh:TJ1-1570 |
| Zdroj: | Advances in Mechanical Engineering, Vol 8 (2016) |
| ISSN: | 1687-8140 |
| Popis: | This article deals with the kinematics and dynamics of a novel leg based on the Peaucellier–Lipkin mechanism, which is better known as the straight path tracer. The basic Peaucellier–Lipkin linkage with 1 degree of freedom was transformed into a more skillful mechanism, through the addition of 4 more degrees of freedom. The resulting 5-degree-of-freedom leg enables the walking machine to move along paths that are straight lines and/or concave or convex curves. Three degrees of freedom transform the leg in relation to a reachable center of rotation that the machine walks around. Once the leg is transformed, the remaining 2 degrees of freedom position the foot at a desirable Cartesian point during the transfer or support phase. We analyzed the direct and inverse kinematics developed for the leg when the foot describes a straight line and found some interesting relationships among the motion parameters. The dynamic model equations of motion for the leg were derived from the Lagrangian dynamic formulation to calculate the required torques during a particular transfer phase. |
| Databáze: | OpenAIRE |
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