Novel Solution for Leg Motion with 5-Link Belt Mechanism

From the analysis of Theo Jansen walking mechanism and of the path curve that it describes the reduced capability for crossing over obstacles of the Jansen leg (1 DOF) is pointed out. By using a 5 link belt mechanism with 2 DOF can be adapted for generating similar Jansen mechanism path curve, where the step height of this path can be increased. For this purpose a mathematical model is conceived in order to analyse and determine the parameters for driving and control of the operation of the novel walking leg solution.

REFERENCES (12)

Bałchanowski J., Szrek J. and Wudarczyk S. (2009): Wheelchair mechanism for negotiating obstacles. - The Archive of Mechanical Engineering, No.3, vol.LVI, pp.251-261.

Google Scholar

Doroftei I. and Adascalitei F. (2012): A hexapod walking micro-robot with compliant legs. - Applied Mechanics and Materials, vol.162, pp.234-241.

Google Scholar

Giesbrecht D. and Wu Qiong C. (2012): Design and optimization of an eight-bar legged walking mechanism imitating a kinetic sculpture. - “Wind Beast”, Transactions of the Canadian Society for Mechanical Engineering, vol.36, No.4, pp.343-355.

Google Scholar

Jansen T. (2007): The Great Pretender. - 010 Publishers, Rotterdam.

Google Scholar

Komoda K. and Wagatsuma H. (2011): A study of availability and extensibility of Theo Jansen mechanism toward climbing over bumps. - The 21st Annual Conference of the Japanese Neural Network Society, December, pp.28.

Google Scholar

Liang C., Ceccarelli M. and Takeda Y. (2008): Operation Analysis of a One-DOF Pantograph Leg Mechanisms. - Proceedings of the RAAD 2008, 17th International Workshop on Robotics in Alpe-Adria-Danube Region, September 15-17, Ancona, Italy.

Google Scholar

Lokhande N.G. and Emche V.B. (2013): Mechanical Spider by Using Klann Mechanism. - International Journal of Mechanical Engineering and Computer Applications, vol.1, No.5, Special Issue, pp.13-16.

Google Scholar

Lovasz E.-C., Perju D., Modler K.-H., Gruescu C.M., Mărgineanu D., Moldovan C.E. and Pop C. (2014): Path Generating Belt Mechanisms as Kinematic Chains for Mechatronic Applications. - EUCOMES, Guimarães Portugal, 2014.

Google Scholar

Moldovan F. (2013): Cercetari privind analiza si sinteza unui mecanism cu bare pentru constructia unui robot mobil pasitor (Research regarding analysis and synthesis of a bar mechanism for constructing a walking robot). - PhD thesis, Timisoara.

Google Scholar

10.

Nansai S., Rajesh Elarab M. and Iwasea M. (2013): Dynamic analysis and modelling of Jansen mechanism. - Procedia Engineering 64, pp.1562-1571.

Google Scholar

11.

Silva F.M. and Machado T.J.A. (2007): A Historical perspective of legged robots. - Journal of Vibration and Control September ,vol.13, No.9-10, pp.1447-1486.

Google Scholar

12.

Wang H., Sang L., Hu X., Zhang D. and Yu H. (2013): Kinematics and dynamics analysis of a quadruped walking robot with parallel leg mechanism. - Chinese Journal of Mechanical Engineering, vol.26, No.5, pp.881-891.

Google Scholar

Submit your paper

eISSN:	2353-9003
ISSN:	1734-4492