Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/6902
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dc.contributor.authorDemirel, Murat-
dc.contributor.authorCarbone, Giuseppe-
dc.contributor.authorCeccarelli, Marco-
dc.contributor.authorKiper, Gökhan-
dc.date.accessioned2018-06-11T06:36:58Z-
dc.date.available2018-06-11T06:36:58Z-
dc.date.issued2018-06-06-
dc.identifier.citationDemirel, 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_28en_US
dc.identifier.isbn978-3-319-79111-1-
dc.identifier.urihttps://doi.org/10.1007/978-3-319-79111-1_28-
dc.identifier.urihttp://hdl.handle.net/11147/6902-
dc.description.abstractThis 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.en_US
dc.language.isoenen_US
dc.publisherSpringer Verlagen_US
dc.relation.ispartofNew Advances in Mechanism and Machine Science: Proceedings of the 12th IFToMM International Symposium on Science of Mechanisms and Machines (SYROM 2017)en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectWalking machinesen_US
dc.subjectHybrid mechanismsen_US
dc.subjectLeg mechanismsen_US
dc.subjectStatic walking simulationen_US
dc.titleDesign and simulation of a novel hybrid leg mechanism for walking machinesen_US
dc.typeConference Objecten_US
dc.authoridTR246461en_US
dc.authoridTR24470en_US
dc.institutionauthorDemirel, Murat-
dc.institutionauthorKiper, Gökhan-
dc.departmentİzmir Institute of Technology. Mechanical Engineeringen_US
dc.identifier.volume57en_US
dc.identifier.startpage283en_US
dc.identifier.endpage290en_US
dc.identifier.scopus2-s2.0-85047610682en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.identifier.doi10.1007/978-3-319-79111-1_28-
dc.relation.doi10.1007/978-3-319-79111-1_28en_US
dc.coverage.doi10.1007/978-3-319-79111-1_28en_US
local.message.claim2023-09-09T21:20:15.677+0300|||rp05102|||submit_approve|||dc_contributor_author|||None*
local.message.claim2023-09-09T21:20:18.534+0300|||rp05102|||submit_approve|||dc_contributor_author|||None*
local.message.claim2023-09-09T21:20:18.534+0300|||rp05102|||submit_approve|||dc_contributor_author|||None*
item.languageiso639-1en-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.grantfulltextopen-
item.cerifentitytypePublications-
item.fulltextWith Fulltext-
item.openairetypeConference Object-
crisitem.author.dept03.10. Department of Mechanical Engineering-
crisitem.author.dept03.10. Department of Mechanical Engineering-
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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