In this paper, design and kinematic analysis of a novel leg with a tripod mechanism is presented for biped robots. The configuration of the proposed tripod mechanism has been determined to make the moving platform possess pure translational motion. Kinematics analysis has been formulated for a characterization and evaluation of performances. A 3-D model has been elaborated in SolidWorks® both for design and simulation purposes. Simulation results show that the proposed mechanism is able to perform movements of a human-like gait trajectory with suitable motion capability, flexibility, and operation performances
DESIGN AND SIMULATION FOR KINEMATIC CHARACTERISTICS OF A TRIPOD MECHANISM FOR BIPED ROBOTS
CECCARELLI, Marco
2014-01-01
Abstract
In this paper, design and kinematic analysis of a novel leg with a tripod mechanism is presented for biped robots. The configuration of the proposed tripod mechanism has been determined to make the moving platform possess pure translational motion. Kinematics analysis has been formulated for a characterization and evaluation of performances. A 3-D model has been elaborated in SolidWorks® both for design and simulation purposes. Simulation results show that the proposed mechanism is able to perform movements of a human-like gait trajectory with suitable motion capability, flexibility, and operation performancesFile in questo prodotto:
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