Abstract
This research aims to explore a better kinematic performance and design scheme for a novel mechanical leg using parameter optimization method. Serial structural mechanisms are widely employed in anthropomorphic mechanism legs but with significant disadvantages of the complex structure and large inertia, particularly, for the multi-objective parameter optimization it is hard to select good parameters to achieve excellent performance. In this article, the plane model of the solution space for multiple parameters and a novel statistics parameter optimization method were proposed for a novel mechanical leg. In the position analysis, the structure and workspace for the novel mechanical leg were developed with simple structure, small inertia, and large workspace; and several kinematic performance evaluation indices were also proposed in the kinematics analysis. In the parameter optimization process, the design scheme and prototyping of the mechanical leg have shown a better kinematic performance by considering the assembly technique as compared with the conventional models. The proposed research provides the basis for the applications of the novel mechanical leg, which can be applied in the modern humanoid robot fields to meet the requirements of high stiffness, lower inertia, and good technological efficiency.
Highlights
Humanoid robots are usually designed to model the human bodies, in which mechanical legs are indispensable if the robots are to walk and interact with the environment.[1,2] Currently, most anthropomorphic mechanical legs adopt serial chains
The mean values of KV and Kh are defined as the evaluation index of global linear-speed-transmission performance R(V) and global angular-speed-transmission performance R(h) which are where V denotes thPe workspacPe of anthropomorphic mechanical leg and L KV and V Kh denote the sums of KV and Kh for points within the workspace, respectively
The statistics parameters optimization method based on the plane model of solution space for multiple parameters is proposed for the mechanical leg
Summary
Humanoid robots are usually designed to model the human bodies, in which mechanical legs are indispensable if the robots are to walk and interact with the environment.[1,2] Currently, most anthropomorphic mechanical legs adopt serial chains. The anthropomorphic robot developed by Solis et al.[3] has two legs and each leg consists of five serially connected links. Honda in Japan, Sarcos research team in the United States,[4,5] University of Karlsruhe in Germany, and Beijing University of Aeronautics and Astronautics developed various bionic mechanical legs with serial chains. Liu et al.[12] designed a hybrid robot system for computed tomography (CT)-guided surgery.
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