New Design, Kinematic and Static Force Modeling of a Bio-Inspired Leg Mechanism for Rough Terrain

Abstract

This paper presents an invertebrate leg-like mechanism, which is biologically inspired from invertebrate creatures such as crabs and insects. For the purpose that the leg mechanism could imitate the behavior of the invertebrate animal on rough terrain, it should have the same degree of freedom as the crabs or insects have. The novel leg mechanism consists of 3 joints which linkage has 5 degrees of freedom (DOFS), and mainly depends on a coxa joint driven by a parallel mechanism for the biomimetic motions. The parallel mechanism with 3 DOF is well designed and implemented with the excellent kinematical performances as invertebrate creatures. The mathematical model of the leg mechanism and the kinematical analysis are described, and static force performance characteristics are also discussed. The kinematical performances of the leg mechanism are analyzed by the numerical simulation conducted in biomimetic robots application. The simulation results show the performance of the proposed leg-like mechanism and verify that the leg can be used in the biomimetic robot which could exactly imitate limb motions.

Primera aproximación de diseño de un rover minimalista bio-inspirado

“…En el caso de las patas de los insectos, en tan sólo una de sus seis patas encontramos por lo menos tres articulaciones con sus correspondientes ligamentos así como otras estructuras. Replicar de forma exacta este sistema biológico mediante actuadores u otros mecanismos es complejo y costoso en términos de la cantidad de componentes necesarios [1,5,6,7,10]. Se ha intentado emular el principio abstracto del funcionamiento con el fin de duplicarlo de forma simplificada manteniendo sus características fundamentales.…”

Design of Geometrical Parameters for Walking Mechanism Leg with Use of Matlab Algorithm and SimMechanics

“…At present days exists number of different types of legs for 6 legged walking mechanisms [1][2][3][4][5][6][7][8][9][10]. These legs are designed based on ant leg kinematic or other types of legs from more-legged insects and use the ratio between leg parts from more-legged insects.…”