Abstract
Walking robots use leg structures to overcome obstacles or move on complicated terrains. Most robots of current researches are equipped with legs of simple structure. The specific design method of walking robot legs is seldom studied. Based on the generalized-function (GF) set theory, a systematic type synthesis process of designing robot legs is introduced. The specific mobility of robot legs is analyzed to obtain two main leg types as the goal of design. Number synthesis problem is decomposed into two stages, actuation and constraint synthesis by name, corresponding to the combinatorics results of linear Diophantine equations. Additional restrictions are discussed to narrow the search range to propose practical limb expressions and kinematic-pair designs. Finally, all the fifty-one leg structures of four subtypes are carried out, some of which are chosen to make up robot prototypes, demonstrating the validity of the method. This paper proposed a novel type synthesis methodology, which could be used to systematically design various practical robot legs and the derived robots.
Highlights
Walking robots with multiple legs have been wildly applied to tough missions associated with uneven terrains
Various robot prototypes were tested with specific tasks, including BigDog [1, 2], FROG-I [3, 4], B-elepht [5, 6], Hector [7], Crabster [8,9,10,11], PPHex [12,13,14] and many other biomechanics [15, 16]
A specific type synthesis method of designing walking robot legs is a powerful tool for improving the operating performance
Summary
Walking robots with multiple legs have been wildly applied to tough missions associated with uneven terrains. While other DoF (active or passive) could be used to adapt to changing terrains or handle jobs like a manipulator For this reason, this paper uses a systematic type synthesis method for 3-DoF walking robot legs based on GF set theory. The end-effector’s DoF, numbers of limbs and constraints should obey the constrain equation:. For type R-P, the total number of actuations is qi = FD = 3, which indicates the existence of multiactuation limb in Table 4 if N < 3 This multi-actuation limb is chosen to take a DoF rearrangement to transform into hybrid form.
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