Abstract
This article deals with the kinematics and dynamics of a novel leg based on the Peaucellier–Lipkin mechanism, which is better known as the straight path tracer. The basic Peaucellier–Lipkin linkage with 1 degree of freedom was transformed into a more skillful mechanism, through the addition of 4 more degrees of freedom. The resulting 5-degree-of-freedom leg enables the walking machine to move along paths that are straight lines and/or concave or convex curves. Three degrees of freedom transform the leg in relation to a reachable center of rotation that the machine walks around. Once the leg is transformed, the remaining 2 degrees of freedom position the foot at a desirable Cartesian point during the transfer or support phase. We analyzed the direct and inverse kinematics developed for the leg when the foot describes a straight line and found some interesting relationships among the motion parameters. The dynamic model equations of motion for the leg were derived from the Lagrangian dynamic formulation to calculate the required torques during a particular transfer phase.
Highlights
In 1864, Charles Nicolas Peaucellier, a French army officer, developed a very special mechanism by joining eight links to convert circular motion into exact linear motion
Our work focuses only on the transfer phase when joint F traces a linear path
Our article describes the kinematics and dynamics for a novel robotic leg based on the PL mechanism when the foot follows a linear path on a transfer phase
Summary
In 1864, Charles Nicolas Peaucellier, a French army officer, developed a very special mechanism by joining eight links to convert circular motion into exact linear motion. The PL mechanism has been studied in different positions and configurations,[6] as well as in its distinct inversions.[7] Other researchers have carried out systematic inquiries dealing with optimum dimensional synthesis.[8] Examples of applications of the PL mechanism are a phonograph pickup arm,[9] the suspension for electric wheels,[10] and two walking machines: one with the ability to move four skis to walk[11] and the other that uses six legs to walk The legs of the latter are fixed to a circular chassis.[12] These two machines only have
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