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Title: Design and simulation of a novel hybrid leg mechanism for walking machines
Authors: Demirel, Murat
Carbone, Giuseppe
Ceccarelli, Marco
Kiper, Gökhan
Keywords: Walking machines
Hybrid mechanisms
Leg mechanisms
Static walking simulation
Issue Date: 6-Jun-2018
Publisher: Springer Verlag
Source: Demirel, M., Carbone, G., Ceccarelli, M., and Kiper, G. (2018). Design and Simulation of a Novel Hybrid Leg Mechanism for Walking Machines. In Doroftei I., Oprisan C., Pisla D., & Lovasz E. (Eds.), New Advances in Mechanism and Machine Science. Mechanisms and Machine Science, (pp. 283-290). Springer, Cham.doi:10.1007/978-3-319-79111-1_28
Abstract: This paper introduces a novel hybrid structure design that is composed of rigid links and cables for a robotic leg with static walking. The proposed mechanism is characterized by actuated hip joints, passive knee joints and an actuated prismatic foot joint. The foot is the moving platform of the proposed mechanism which possesses pure translational motion due to the passive parallelograms with cables. Kinematic analysis has been worked out for evaluating a typical human-like gait trajectory. A 3-D model has been developed and simulation are made in SolidWorks® environment. Simulation results show that the proposed mechanism is able to perform an ovoid walking cycle of a foot point and the computed actuator torques and forces are in a feasible range for a low-cost and easy-operation design. The simulation results will be used for a prototype construction in a future work.
ISBN: 978-3-319-79111-1
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Sürdürülebilir Yeşil Kampüs Koleksiyonu / Sustainable Green Campus Collection

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