TY - JOUR
T1 - Design and optimization of a lightweight and compact waist mechanism for a robotic rat
AU - Li, Chang
AU - Shi, Qing
AU - Gao, Zihang
AU - Ma, Mengchao
AU - Ishii, Hiroyuki
AU - Takanishi, Atsuo
AU - Huang, Qiang
AU - Fukuda, Toshio
N1 - Publisher Copyright:
© 2019 Elsevier Ltd
PY - 2020/4
Y1 - 2020/4
N2 - A multi-degree-of-freedom (multi-DOF) waist mechanism is required for robotic rats to perform species-typical behaviors, but the existing waist mechanisms are heavy and cumbersome. To solve this problem, we propose a linkage-based slider-coupled symmetric swing (S3) mechanism, which features a single-input multiple-output structure, allowing it to couple multiple DOFs. The linkage mechanism has a variety of forms and linkage curves, making the S3 mechanism suitable for multiple-constraint optimization. Based on kinematic and dynamic analyses, we constrain the S3 mechanism in terms of bending angle, transmission angle, symmetry, and its existence, and then we optimize its dimensions using an interior-point method to make it compact. Compared with an existing waist mechanism, the proposed waist mechanism has only 47.8% of the weight and smaller dimensions, making it more lightweight and compact. Experiments on a robotic rat show that the proposed waist mechanism enables a robotic rat to perform rat-like upright rearing in 0.5s and tail grooming behavior in 0.4s, indicating its good biomimetic and dynamic performances. Comparisons between two generation robotic rats also reveal that the robot with new waist mechanism has similar (sometimes superior) pitching and bending abilities with the former one.
AB - A multi-degree-of-freedom (multi-DOF) waist mechanism is required for robotic rats to perform species-typical behaviors, but the existing waist mechanisms are heavy and cumbersome. To solve this problem, we propose a linkage-based slider-coupled symmetric swing (S3) mechanism, which features a single-input multiple-output structure, allowing it to couple multiple DOFs. The linkage mechanism has a variety of forms and linkage curves, making the S3 mechanism suitable for multiple-constraint optimization. Based on kinematic and dynamic analyses, we constrain the S3 mechanism in terms of bending angle, transmission angle, symmetry, and its existence, and then we optimize its dimensions using an interior-point method to make it compact. Compared with an existing waist mechanism, the proposed waist mechanism has only 47.8% of the weight and smaller dimensions, making it more lightweight and compact. Experiments on a robotic rat show that the proposed waist mechanism enables a robotic rat to perform rat-like upright rearing in 0.5s and tail grooming behavior in 0.4s, indicating its good biomimetic and dynamic performances. Comparisons between two generation robotic rats also reveal that the robot with new waist mechanism has similar (sometimes superior) pitching and bending abilities with the former one.
KW - Biomimetics
KW - Mechanism optimization
KW - Robotic rat
KW - SIMO Mechanism
UR - http://www.scopus.com/inward/record.url?scp=85076855239&partnerID=8YFLogxK
U2 - 10.1016/j.mechmachtheory.2019.103723
DO - 10.1016/j.mechmachtheory.2019.103723
M3 - Article
AN - SCOPUS:85076855239
SN - 0094-114X
VL - 146
JO - Mechanism and Machine Theory
JF - Mechanism and Machine Theory
M1 - 103723
ER -