Decoupled Design of Walking Robot Legs

10.6567/IFToMM.14TH.WC.OS13.100

Da. Xi；Feng. Gao

Decoupled design ； Singular points ； Dual-elimination ； Anisotropy analysis

Proceedings of the 14th IFToMM World Congress

14th-4（2015 / 11 / 04）

275 - 281

英文

Most mammals tend to move with their own gaits to adapt to specific environments. Therefore, their legs have corresponding abilities for the need of gait types. Walking robots operating in typical environments choose to move with defined gaits. As a result, robot legs should be designed carefully to get appropriate abilities of the required gaits. Here we propose a design method of walking robot legs based on simple four-bar linkage. Design parameters were divided into two parts: space parameters and I/ O parameters. Decoupled design process focused on only space limitations or transfer requirements, respectively. Dual-elimination of singular points was capable of resolving conflicts between these two kinds of parameters. Anisotropy analysis was applied because robot legs worked in typical anisotropy/ isotropy conditions. The design process is fundamental and compatible with further detailed design tasks.