Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot

Liang, Conghui; Ceccarelli, Marco; Takeda, Yukio

doi:10.1007/s11465-012-0340-5

Cited by 53 publications

(40 citation statements)

References 9 publications

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“…The optimised variables included l 1 , l 2 , l 3 , l 4 , Z A , Y A , α and β (Fig.8). During the optimisation process the values of variables were changed in search of the objective function's minimum average value.…”

Section: Topology Search and Design Optimizationmentioning

confidence: 99%

“…In the case of exoskeletons that are used by healthy people for walking or increasing the strength and endurance, such an accurate reproduction of the joint's movement is not necessary and for most of designed devices it is not taken into account (Lovasz et al [3]; Liang et al [4]). As regards the kinesiotherapy and biomechanics, the knee joint is also often simplified and considered as a hinge (Tate [5]).…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design and Characterization of a Novel Knee Articulation Mechanism

Olinski¹,

Gronowicz²,

Handke³

et al. 2016

International Journal of Applied Mechanics and Engineering

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The paper is focused on designing a novel controllable and adjustable mechanism for reproducing human knee joint's complex motion by taking into account the flexion/extension movement in the sagittal plane, in combination with roll and slide. Main requirements for a knee rehabilitation supporting device are specified by researching the knee's anatomy and already existing mechanisms. A three degree of freedom (3 DOF) system (four-bar like linkage with controlled variable lengths of rockers) is synthesised to perform the reference path of instantaneous centre of rotation (ICR). Finally, a preliminary design of the adaptive mechanism is elaborated and a numerical model is built in Adams. Numerical results are derived from simulations that are presented to evaluate the accuracy of the reproduced movement and the mechanism's capabilities.

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Section: Topology Search and Design Optimizationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and Characterization of a Novel Knee Articulation Mechanism

Olinski¹,

Gronowicz²,

Handke³

et al. 2016

International Journal of Applied Mechanics and Engineering

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“…Additionally, decoupled motion becomes possible with respect to different inputs; hence, pantographs are used in leg mechanics of gravitational decoupled actuators (GDA). [9][10][11] The fig.3 shows the speculated leg structure for Al-phaDog. The structure can be divided into the motiongenerating part and the pantograph that amplifies the generated motion.…”

Section: Related Workmentioning

confidence: 99%

“…Among these mechanisms, the straight line generating mechanisms derived from Chebyshev linkage have been employed and studied for various types of mechanics because these mechanisms have relative simple structures and can decrease the overlapping of links during the motion. [11] The leg that has a straight line generating mechanism applied to its motion-generating part is illustrated in the fig.4. Point Q that connects the motion-generating and pantograph parts is always located somewhere along the straight line that connects the hip joint and the foot-end, and it performs extension motion by using actuator 2 .…”

Section: Related Workmentioning

confidence: 99%

Leg mechanism design for SLIP model of hydraulic quadruped robot

Seo

Cho

Park

et al. 2014

2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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The Spring Loaded Inverted Pendulum (SLIP) describes the dynamic walking of humans and animals in a simplified manner. However, realizing such movements by means of a combination of typical articulated legs and linear actuators has some limitations. This paper proposes a leg mechanism that accurately reflects the SLIP based on its mechanical constitution. The SLIP design based leg is able to do decoupled swing motion and extension motion. Also this study has focused on improving the straightness of extension motion.

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“…Ceccarelli et al designed different types of 1-DOF leg mechanisms consist of four-bar linkage, five-bar linkage, and a pantograph mechanism for biped robots (Ottaviano et al 2004;Liang et al 2008Liang et al , 2012Tavolieri et al 2007). In one study they use their leg mechanism with the aim of building a 6-legged mobile robot, which will be used for inspection of architectural sites such as ancient pavements (Liang et al 2008). Kuroi and Ishihara proposed a 4-legged Locomotion mechanism with pantograph-jack structure as its leg for heavy load transportation (Kuroi and Ishihara 2006).…”

Section: Introductionmentioning

confidence: 99%

A multi-objective differential evolution approach based on ε-elimination uniform-diversity for mechanism design

Gholaminezhad

Jamali

2015

Struct Multidisc Optim

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In this paper, a new multi-objective uniform-diversity differential evolution (MUDE) algorithm is proposed and used for Pareto optimum design of mechanisms. The proposed algorithm uses a diversity preserving mechanism called the ε-elimination algorithm to improve the population diversity among the obtained Pareto front. The proposed algorithm is firstly tested on some constrained and unconstrained benchmarks proposed for the special session and competition on multi-objective optimizers held under IEEE CEC 2009. The inverted generational distance (IGD) measure is used to assess the performance of the algorithm. Secondly, the proposed algorithm has been used for multi-objective optimization of two different combinatorial case studies. The first case contains a two-degree of freedom leg mechanism with springs. Three conflicting objective functions that have been considered for Pareto optimization are namely, leg size, vertical actuating force, and the peak crank torque. The second case is a twofinger robot gripper mechanism with two conflicting objectives which are the difference between the maximum and minimum gripping force and the transmission ratio of actuated and experienced gripper forces. Comparisons of obtained Pareto fronts using the method of this work with those obtained in other references show significant improvements.

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Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot

Cited by 53 publications

References 9 publications

Design and Characterization of a Novel Knee Articulation Mechanism

Design and Characterization of a Novel Knee Articulation Mechanism

Leg mechanism design for SLIP model of hydraulic quadruped robot

A multi-objective differential evolution approach based on ε-elimination uniform-diversity for mechanism design

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