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

doi:10.1007/s11465-012-0340-5

Front Mech Eng

2012, Vol. 7

Issue (4) : 357-370 https://doi.org/10.1007/s11465-012-0340-5

RESEARCH ARTICLE

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

Conghui LIANG¹, Marco CECCARELLI¹(

), Yukio TAKEDA²

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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Abstract

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.

Keywords biped robots leg mechanisms simulation

Corresponding Author(s): CECCARELLI Marco,Email:ceccarelli@unicas.it

Issue Date: 05 December 2012

Cite this article:

Conghui LIANG,Marco CECCARELLI,Yukio TAKEDA. Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot[J]. Front Mech Eng, 2012, 7(4): 357-370.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-012-0340-5
https://academic.hep.com.cn/fme/EN/Y2012/V7/I4/357

Fig.1 Scheme of human walking gait with its main parameters

Fig.2 Kinematic scheme of the proposed single DOF Chebyshev-Pantograph leg mechanism

Tab.1 Design parameters of a prototype leg mechanism at LARM with structure of Fig. 2

Fig.3 Computed trajectories of points and in a full cycle crank operation

Fig.4 Characteristics point of the trajectory of point in Fig. 3

Fig.5 Simulation results for trajectories of the leg mechanisms during biped walking

Fig.6 A characterization of a full cycle of biped walking gait. (a) Scheme of the leg motion; (b) computed trajectories of points , , , and .

Fig.7 The transmission angles and as function of the input crank angles and . (a) In the right leg mechanism; (b) in the left leg mechanism

Fig.8 Angles and as function of the input crank angles and . (a) In the right leg mechanism; (b) in the left leg mechanism

Fig.9 Motion sequences in sagittal plane when the biped robot walks9

Fig.10 Motion sequences in horizontal plane when the biped robot walks

Fig.11 Flowchart for the walking gait of the biped robot as referring to scheme in Fig. 10

Tab.2 Mass of a prototype leg mechanism at LARM with structure of Fig. 2 (kg)

Fig.12 Computed trajectory of COG of the biped robot

Fig.13 Computed actuation torque on the crank when the biped robot walks

Fig.14 Computed acceleration of point during one biped walking gait in Fig. 12. (a) Acceleration along axis; (b)acceleration along axis

Fig.15 Computed acceleration of point during one biped walking gait in Fig. 12. (a) Acceleration along axis; (b) acceleration along axis

Fig.16 A prototype of a single DOF biped robot with two proposed leg mechanisms at LARM

Fig.17 Position of accelerometers and reference frames in Fig. 16 during experimental tests. (a) Accelerometer at point ' at the end of foot; (b) accelerometers at point ' on the body

Fig.18 Measured accelerations at point ' at the end of foot during experimental tests. (a) Acceleration along axis; (b) acceleration along axis

Fig.19 Measured accelerations at point P' on the body during experimental tests. (a) Acceleration along axis; (b) acceleration along axis

Fig.20 Snapshots of the walking sequences by the LARM prototype in a lab test

Fig.21 A parametric study of the leg mechanism as function of parameter a in Fig. 2. (a) Generated ovoid curves at point ; (b) trajectories of COG and foot trajectory of the swinging leg

Fig.22 A parametric study of the biped robot as function of parameter in Fig. 2. (a) Generated ovoid curves at point A; (b) trajectories of COG and foot point of swinging leg

Fig.23 A parametric study of the biped robot as function of parameter in Fig. 2. (a) Generated ovoid curves at point ; (b) trajectories of COG and foot point of swinging leg.

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