Design of a Single Motor Based Leg Structure with the Consideration of Inherent Mechanical Stability

[摘要] The fundamental aspect of designing a legged robot is constructing a leg design that is robust and presents a simple control problem. In this paper, we have successfully designed a robotic leg based on a unique four bar mechanism with only one motor per leg. The leg design parameters used in our platform are extracted from design principles used in biological systems, multiple iterations and previous research findings. These principles guide a robotic leg to have minimal mechanical passive impedance, low leg mass and inertia, a suitable foot trajectory utilizing a practical balance between leg kinematics and robot usage, and the resultant inherent mechanical stability. The designed platform also exhibits the key feature of self-locking. Theoretical tools and software iterations were used to derive these practical features and yield an intuitive sense of the required leg design parameters.

[发布机构] School of Mechanical and Manufacturing Engineering, National University of Sciences and Technology (NUST), Islamabad; H-12, Pakistan^1

[效力级别] 无线电电子学

[关键词] Control problems;Design Principles;Four-bar mechanisms;Key feature;Leg design;Legged robots;Multiple iterations;Selflocking