Abstract
The biggest hurdle to applying multi-legged robots to firefighting is the protection of the motors driving their legs and the motors’ accessories. A series of protectable leg mechanisms (LMs) are thus proposed to remove this obstacle. First, the relationships between the motion characteristic of the rigid body and one point on this body are revealed based on generalized function (GF) set theory. The motion characteristics of the LM and ankle, which enable the robot body to achieve six-dimensional movement, are determined. Then, the structure layout of the protectable LM is designed, and two composition schemes for a protectable LM are proposed. In addition, 13 types of walking mechanisms (WMs) and their motion input points are presented. Considering the protective design of the motors and their accessories, two rules of type synthesis of the driving mechanism (DM) are set. Based on the motion characteristics of the motion input points of the WMs and foot end-points, seven rules are given to solve the characteristics of DM and connecting joint. 23 types of protectable DMs are synthesised. Finally, 23 types of 3-mixed-DOF protectable LMs are obtained, and examples of protectable LMs are presented. One of these LMs was successfully used in the design of a six-legged firefighting robot.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
