Structural synthesis of linkages for quadruped bio-robot legs

被引：0

作者：

Antonescu, O. ^{[1
]}

Robu, C. ^{[2
]}

Antonescu, P. ^{[1
]}

机构：

[1] Univ Politehn Bucuresti, Mech & Robots Theory Dept, Bucharest, Romania

[2] Tudor Vianu Hight Sch, Giurgiu, Romania

来源：

7TH INTERNATIONAL CONFERENCE ON ADVANCED CONCEPTS IN MECHANICAL ENGINEERING | 2016年 / 147卷

关键词：

D O I：

10.1088/1757-899X/147/1/012081

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The paper presents a few kinematic schemes of planar mechanisms with bars (linkages) used as part of the quadruped robot legs. The Dunshee linkage having only four elements as crank-rocker mechanism is analyzed. Further, the Klann linkage, which is accomplished by amplifying the crank-rocker mechanism with a dyadic kinematic chain, is also presented. More than that, the Jansen linkage, which is obtained by extending and amplifying the crank-rocker mechanism with two dyadic kinematic chains, is also analyzed. At the end of the paper, the authors present a novel linkage application consisting of a quadric kinematic chain.

引用

页数：8

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