Design of a novel hybrid cable-constrained parallel leg mechanism for biped walking machines

Abstract

In this paper, a novel cable-constrained parallel mechanism is presented as a lightweight, low-cost leg mechanism design for walking machines to be used on flat surfaces. The proposed leg mechanism has three translational degrees of freedom. It is based on two specific hybrid kinematic topologies being herewith proposed. The paper reports the kinematic analysis formulation and a position performance evaluation to confirm the main characteristics of the proposed solutions. A 3D CAD model and simulations are carried out to demonstrate the feasibility of the proposed design for performing a human-like gait trajectory. A prototype has been built, and preliminarily tests have been conducted to confirm the motion capabilities of the proposed mechanism design. Then a second, enhanced prototype has been designed and built. An experimental validation is carried out for tracking a planar walking trajectory with the built prototypes by using a real-time PCI controller. Results are presented to validate the operation characteristics of the proposed mechanism and to prove its feasibility for legged walking machines.

A Low-Inertia and High-Stiffness Cable-Driven Biped Robot: Design, Modeling, and Control

“…Experimental results showed that the C-ALEX can provide accurate forces and torques as expected. The authors of [24] introduced a new cable-constrained parallel-legged walking mechanism, which is lightweight and cost-effective and has three translational DOFs. Experimental validation showed that it can effectively track a planar walking trajectory by using a real-time PCI controller.…”