Synthesis and Fatigue Life Optimization of a Spring-Less Compliant Robot Leg Design

Abstract

AbstractCompliant mechanisms have the potential to incorporate the kinematic and dynamic characteristics of animal locomotion into robot legs while simplifying the assembly. This paper describes the synthesis of a compliant mechanism-based robot leg linkage. Pseudo-rigid body method is used for converting a state-of-the-art spring-loaded rigid robot leg into a compliant linkage which is considerably simpler than the traditional robot legs. Further, fatigue life, an important characteristic of the compliant leg linkage, is optimized.KeywordsCompliant mechanismsLegged robotsFatigue life optimization