TY - GEN
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
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
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.
UR - https://www.scopus.com/pages/publications/85078356138
U2 - 10.1109/ARSO46408.2019.8948752
DO - 10.1109/ARSO46408.2019.8948752
M3 - Conference contribution
AN - SCOPUS:85078356138
T3 - Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
SP - 191
EP - 196
BT - 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
PB - IEEE Computer Society
T2 - 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Y2 - 31 October 2019 through 2 November 2019
ER -