Abstract
Walking robots use legs to separate their bodies from tough terrain. There is few systematic method to accomplish specific structure design of robot legs. This paper provides a practical systematic design method based on generalized-function (GF) set theory. The process of the method includes type classification, number synthesis, limb decomposition and kinematic pair design. Two main types of robot legs are proposed to represent basic design targets. The number synthesis of the basic leg types are transferred to two linear Diophantine equations, actuation synthesis and constraint synthesis by name. According to practical requirements, feasible limb expressions and kinematic-pair design are proposed. Finally all the fifty-one leg types are synthesized and typical prototypes are realized to prove the validity of the design method.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Playter R, Buehler M, Raibert M (2006) BigDog. In: Defense and security symposium. International Society for Optics and Photonics, pp 62302O–62302O-6
Raibert M, Blankespoor K, Nelson G et al (2008) Bigdog, the rough-terrain quadruped robot. Proc 17th World Congress 17(1):10822–10825
Chen X, Gao F, Qi C et al (2014) Spring parameters design for the new hydraulic actuated quadruped robot. J Mech Robot 6(2):021003
Chen X, Gao F, Qi C et al (2015) Gait planning for a quadruped robot with one faulty actuator. Chin J Mech Eng 28(1):11–19
Pan Y, Gao F (2013) A new 6-parallel-legged walking robot for drilling holes on the fuselage. Proc Inst Mech Eng, Part C: J Mech Eng Sci 0954406213489068
Pan Y, Gao F (2013) Payload capability analysis of a new kind of parallel leg hexapod walking robot. In 2013 International conference on advanced mechatronic systems (ICAMechS). IEEE, pp 541–544
Pan Y, Gao F, Qi C et al (2016) Human-tracking strategies for a six-legged rescue robot based on distance and view. Chin J Mech Eng 1–12
Chen D, Liu Q, Dong L et al (2014) Effect of spine motion on mobility in quadruped running. Chin J Mech Eng 27(6):1150–1156
Lei J, Yu H, Wang T (2016) Dynamic bending of bionic flexible body driven by pneumatic artificial muscles (PAMs) for spinning gait of quadruped robot. Chin J Mech Eng 29(1):11–20
Quinn RD, Nelson GM, Bachmann RJ et al (2001) Insect designs for improved robot mobility. Climbing Walk Robots: Biol Ind Appl 59
Gao F, Zhang Y, Li W (2005) Type synthesis of 3-DOF reducible translational mechanisms. Robotica 23(02):239–245
Meng X, Gao F, Yang J (2012) The GF sets: a new kind of performance criterion of mechanisms. In: ASME 2012 international design engineering technical conferences and computers and information in engineering conference. American Society of Mechanical Engineers, pp 559–564
Yang P, Gao F (2012). Kinematical model and topology patterns of a new 6-parallel-legged walking robot. In: ASME 2012 international design engineering technical conferences and computers and information in engineering conference. American Society of Mechanical Engineers, pp 1197–1205
He J, Gao F, Meng X et al (2015) Type synthesis for 4-DOF parallel press mechanism using GF set theory. Chin J Mech Eng 28(4):851–859
Raibert MH, Brown HB, Chepponis M (1984) Experiments in balance with a 3D one-legged hopping machine. Int J Robot Res 3(2):75–92
Raibert MH (1990) Trotting, pacing and bounding by a quadruped robot. J Biomech 23:7983–8198
Semini C, Tsagarakis NG, Guglielmino E et al (2011) Design of HyQ—a hydraulically and electrically actuated quadruped robot. Proc Inst Mech Eng, Part I: J Syst Control Eng 0959651811402275
Meng X, Gao F, Ge QJ (2014) Number synthesis of parallel robotic mechanisms. Mech Based Design Struct Mach 42(2):211–228
Acknowledgments
Supported by National Basic Research Program of China (973 Program, Grant No. 2013CB035501).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Xi, D., Gao, F. (2017). Synthesis of Two Primary Types of Walking Robot Legs. In: Zhang, X., Wang, N., Huang, Y. (eds) Mechanism and Machine Science . ASIAN MMS CCMMS 2016 2016. Lecture Notes in Electrical Engineering, vol 408. Springer, Singapore. https://doi.org/10.1007/978-981-10-2875-5_30
Download citation
DOI: https://doi.org/10.1007/978-981-10-2875-5_30
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-10-2874-8
Online ISBN: 978-981-10-2875-5
eBook Packages: EngineeringEngineering (R0)