Structural synthesis of linkages for quadruped bio-robot legs

7th International Conference on Advanced Concepts in Mechanical Engineering

Antonescu, O.^1 ; Robu, C.^2 ; Antonescu, P.^1

Mechanism and Robots Theory Department, Politehnica Univ. Bucharest, Romania^1

Tudor Vianu Hight School, Giurgiu, Romania^2

关键词: Bio robots;    Crank-rocker mechanism;    Kinematic chain;    Planar mechanism;    Quadruped Robots;    Structural synthesis;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/147/1/012081/pdf
DOI  :  10.1088/1757-899X/147/1/012081

来源: IOP

【 摘 要 】

The paper presents a few kinematic schemes of planar mechanisms with bars (linkages) used as part of the quadruped robot legs. The Dunshee linkage having only four elements as crank-rocker mechanism is analyzed. Further, the Klann linkage, which is accomplished by amplifying the crank-rocker mechanism with a dyadic kinematic chain, is also presented. More than that, the Jansen linkage, which is obtained by extending and amplifying the crank-rocker mechanism with two dyadic kinematic chains, is also analyzed. At the end of the paper, the authors present a novel linkage application consisting of a quadric kinematic chain.