Dynamics of a novel robotic leg based on the Peaucellier–Lipkin mechanism on linear paths during the transfer phase
Clicks: 407
ID: 54666
2016
Article Quality & Performance Metrics
Overall Quality
Not rated
Combines reader engagement with the AI quality analysis. This
article has not been analysed, so there is no overall score —
reader engagement is measured and shown alongside.
Reader Engagement
Steady Performance
69.5
/100
407 views
282 readers
Trending
AI Quality Assessment
Not analyzed
Readership in this journal
SteadyRanked #3 of 30 articles by views in advances in mechanical engineering
Most read
Least read
Bar heights use a square-root scale.
Mint this article as an NFT
Not yet mintedCreate a permanent, verifiable on-chain record of this article on the Scimatic Network. The NFT is held in your Journament account, and you can withdraw it to your own wallet at any time.
5
SUSD
one-off · no wallet required
Abstract
This article deals with the kinematics and dynamics of a novel leg based on the Peaucellier–Lipkin mechanism, which is better known as the straight path tracer. The basic Peaucellier–Lipkin linkage with 1 degree of freedom was transformed into a more skillful mechanism, through the addition of 4 more degrees of freedom. The resulting 5-degree-of-freedom leg enables the walking machine to move along paths that are straight lines and/or concave or convex curves. Three degrees of freedom transform the leg in relation to a reachable center of rotation that the machine walks around. Once the leg is transformed, the remaining 2 degrees of freedom position the foot at a desirable Cartesian point during the transfer or support phase. We analyzed the direct and inverse kinematics developed for the leg when the foot describes a straight line and found some interesting relationships among the motion parameters. The dynamic model equations of motion for the leg were derived from the Lagrangian dynamic formulation to calculate the required torques during a particular transfer phase.
| Reference Key |
nnezaltamirano2016dynamicsadvances
Use this key to autocite in the manuscript while using
SciMatic Manuscript Manager or Thesis Manager
|
|---|---|
| Authors | Núñez-Altamirano, Diego Alfredo;Juárez-Campos, Ignacio;Márquez-Pérez, Lucia;Flores-Díaz, Ociel;Romero-Muñoz, Leonardo; |
| Journal | advances in mechanical engineering |
| Year | 2016 |
| DOI |
DOI not found
|
| URL | |
| Keywords |
Citations
No citations found. To add a citation, contact the admin at info@scimatic.org
Comments
No comments yet. Be the first to comment on this article.