2012年 第7卷 第4期
《机械工程前沿（英文）》 >> 2012年 第7卷 第4期 doi: 10.1007/s11465-012-0340-5
Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot
1. Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Cassino 03043, Italy
2. Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, Tokyo 152-8552, Japan
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摘要
In this paper, operation analysis of a Chebyshev-Pantograph leg mechanism is presented for a single degree of freedom (DOF) biped robot. The proposed leg mechanism is composed of a Chebyshev four-bar linkage and a pantograph mechanism. In contrast to general fully actuated anthropomorphic leg mechanisms, the proposed leg mechanism has peculiar features like compactness, low-cost, and easy-operation. Kinematic equations of the proposed leg mechanism are formulated for a computer oriented simulation. Simulation results show the operation performance of the proposed leg mechanism with suitable characteristics. A parametric study has been carried out to evaluate the operation performance as function of design parameters. A prototype of a single DOF biped robot equipped with two proposed leg mechanisms has been built at LARM (Laboratory of Robotics and Mechatronics). Experimental test shows practical feasible walking ability of the prototype, as well as drawbacks are discussed for the mechanical design.
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