Mechanical Structure Design of a Robot Leg with a Parallel Rod Mechanism with Low Moment of Inertia

Xin Zhu; Aiguo Ming; Qiang Huang; Xuxiao Fan; Fei Meng; Huaxin Liu; Zewen He; Guoliang Wu; Botao Liu; Lei Wang; Ru Kang

doi:10.1109/ARSO46408.2019.8948752

Mechanical Structure Design of a Robot Leg with a Parallel Rod Mechanism with Low Moment of Inertia

Xin Zhu, Aiguo Ming, Qiang Huang, Xuxiao Fan^*, Fei Meng, Huaxin Liu, Zewen He, Guoliang Wu, Botao Liu, Lei Wang, Ru Kang

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

Robots capable of jumping need higher torque drive and more stable and reliable mechanical structure. We designed a medium-sized robot leg with excellent jumping ability, and adopted parallel rod structure in the mechanical structure, and established a simplified model to analyze the structure. The mathematical model is established by using the objective design method for simulation, and the optimal driving scheme is determined by the simulation results. Lightweight materials and lightweight design have been used to minimize weight. Moreover, a prototype of the parallel leg is developed, on which the loaded vertical jump experiments are achieved. The results of experiment validate the ability in loaded jumping of the robot leg, which could implement a vertical loaded jump in maximum jumping height of 82cm and achieve continuous and stable jumping.

Original language	English
Title of host publication	2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Publisher	IEEE Computer Society
Pages	191-196
Number of pages	6
ISBN (Electronic)	9781728131764
DOIs	https://doi.org/10.1109/ARSO46408.2019.8948752
Publication status	Published - Oct 2019
Event	15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 - Beijing, China Duration: 31 Oct 2019 → 2 Nov 2019

Publication series

Name	Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
Volume	2019-October
ISSN (Print)	2162-7568
ISSN (Electronic)	2162-7576

Conference

Conference	15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Country/Territory	China
City	Beijing
Period	31/10/19 → 2/11/19

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10.1109/ARSO46408.2019.8948752

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Zhu, X., Ming, A., Huang, Q., Fan, X., Meng, F., Liu, H., He, Z., Wu, G., Liu, B., Wang, L., & Kang, R. (2019). Mechanical Structure Design of a Robot Leg with a Parallel Rod Mechanism with Low Moment of Inertia. In 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 (pp. 191-196). Article 8948752 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; Vol. 2019-October). IEEE Computer Society. https://doi.org/10.1109/ARSO46408.2019.8948752

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title = "Mechanical Structure Design of a Robot Leg with a Parallel Rod Mechanism with Low Moment of Inertia",

abstract = "Robots capable of jumping need higher torque drive and more stable and reliable mechanical structure. We designed a medium-sized robot leg with excellent jumping ability, and adopted parallel rod structure in the mechanical structure, and established a simplified model to analyze the structure. The mathematical model is established by using the objective design method for simulation, and the optimal driving scheme is determined by the simulation results. Lightweight materials and lightweight design have been used to minimize weight. Moreover, a prototype of the parallel leg is developed, on which the loaded vertical jump experiments are achieved. The results of experiment validate the ability in loaded jumping of the robot leg, which could implement a vertical loaded jump in maximum jumping height of 82cm and achieve continuous and stable jumping.",

author = "Xin Zhu and Aiguo Ming and Qiang Huang and Xuxiao Fan and Fei Meng and Huaxin Liu and Zewen He and Guoliang Wu and Botao Liu and Lei Wang and Ru Kang",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 ; Conference date: 31-10-2019 Through 02-11-2019",

year = "2019",

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doi = "10.1109/ARSO46408.2019.8948752",

language = "English",

series = "Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO",

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address = "United States",

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Zhu, X, Ming, A, Huang, Q, Fan, X, Meng, F, Liu, H, He, Z, Wu, G, Liu, B, Wang, L & Kang, R 2019, Mechanical Structure Design of a Robot Leg with a Parallel Rod Mechanism with Low Moment of Inertia. in 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019., 8948752, Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO, vol. 2019-October, IEEE Computer Society, pp. 191-196, 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019, Beijing, China, 31/10/19. https://doi.org/10.1109/ARSO46408.2019.8948752

Mechanical Structure Design of a Robot Leg with a Parallel Rod Mechanism with Low Moment of Inertia. / Zhu, Xin; Ming, Aiguo; Huang, Qiang et al.
2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019. IEEE Computer Society, 2019. p. 191-196 8948752 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; Vol. 2019-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Mechanical Structure Design of a Robot Leg with a Parallel Rod Mechanism with Low Moment of Inertia

AU - Zhu, Xin

AU - Ming, Aiguo

AU - Huang, Qiang

AU - Fan, Xuxiao

AU - Meng, Fei

AU - Liu, Huaxin

AU - He, Zewen

AU - Wu, Guoliang

AU - Liu, Botao

AU - Wang, Lei

AU - Kang, Ru

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N2 - Robots capable of jumping need higher torque drive and more stable and reliable mechanical structure. We designed a medium-sized robot leg with excellent jumping ability, and adopted parallel rod structure in the mechanical structure, and established a simplified model to analyze the structure. The mathematical model is established by using the objective design method for simulation, and the optimal driving scheme is determined by the simulation results. Lightweight materials and lightweight design have been used to minimize weight. Moreover, a prototype of the parallel leg is developed, on which the loaded vertical jump experiments are achieved. The results of experiment validate the ability in loaded jumping of the robot leg, which could implement a vertical loaded jump in maximum jumping height of 82cm and achieve continuous and stable jumping.

AB - Robots capable of jumping need higher torque drive and more stable and reliable mechanical structure. We designed a medium-sized robot leg with excellent jumping ability, and adopted parallel rod structure in the mechanical structure, and established a simplified model to analyze the structure. The mathematical model is established by using the objective design method for simulation, and the optimal driving scheme is determined by the simulation results. Lightweight materials and lightweight design have been used to minimize weight. Moreover, a prototype of the parallel leg is developed, on which the loaded vertical jump experiments are achieved. The results of experiment validate the ability in loaded jumping of the robot leg, which could implement a vertical loaded jump in maximum jumping height of 82cm and achieve continuous and stable jumping.

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Zhu X, Ming A, Huang Q, Fan X, Meng F, Liu H et al. Mechanical Structure Design of a Robot Leg with a Parallel Rod Mechanism with Low Moment of Inertia. In 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019. IEEE Computer Society. 2019. p. 191-196. 8948752. (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO). doi: 10.1109/ARSO46408.2019.8948752

Mechanical Structure Design of a Robot Leg with a Parallel Rod Mechanism with Low Moment of Inertia

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