Chinese Journal of Mechanical Engineering >

2018 , Vol. 31 >Issue 1: 15 - 15

DOI: https://doi.org/10.1186/s10033-018-0216-7

Mechanism and Robotics

Type Synthesis of Walking Robot Legs

  • Da Xi ,
  • Feng Gao
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  • State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China

收稿日期: 2016-05-10

  网络出版日期: 2019-07-23

基金资助

Supported by National Natural Science Foundation of China (Grant Nos. U1613208, 51335007), National Basic Research Program of China (973 Program, Grant No. 2013CB035501), Science Fund for Creative Research Groups of the National Natural Science Foundation of China (Grant No. 51421092), and Science and Technology Commission of Shanghai-based "Innovation Action Plan" Project (Grant No. 16DZ1201001)

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Type Synthesis of Walking Robot Legs

  • Da Xi ,
  • Feng Gao
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  • State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China

Received date: 2016-05-10

  Online published: 2019-07-23

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摘要

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 specifc 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 specifc 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 ffty-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.

关键词： Type synthesis; Robot leg; GF set; Number synthesis; Linear Diophantine equation

本文引用格式

Da Xi , Feng Gao . Type Synthesis of Walking Robot Legs[J]. Chinese Journal of Mechanical Engineering, 2018 , 31(1) : 15 -15 . DOI: 10.1186/s10033-018-0216-7

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 specifc 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 specifc 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 ffty-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.

Key words： Type synthesis; Robot leg; GF set; Number synthesis; Linear Diophantine equation

参考文献

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