Structural and Constructive Design of Some Bi-mobile Leg Mechanisms

10.6567/IFToMM.14TH.WC.OS13.126

Adr. Comănescu；D. M. Comănescu；I. Dugăeşescu；L. M. Ungureanu；C. G. Alionte

passive modular group ； Baranov truss ； mono-mobile mechanism ； bi-mobile mechanism ； inverse model ； leg mechanism

Proceedings of the 14th IFToMM World Congress

14th-4（2015 / 11 / 04）

387 - 392

英文

The paper deals with the synthesis of bimobile mechanisms applied to the legs of walking or stepping robots. The contributions are theoretical and practical for the synthesis and design of such mechanisms. This new approach of bi-mobile systems based on theoretical bases and terminology of the mechanism theory agreed by IFToMM determines new creations of such systems and enhances the creativity of young scientists. The theoretical method previously elaborated brings into attention the passive modular groups known as Assur groups. These concepts are extended to other structures with positive degree of mobility named active modular groups, which are also open and un-decomposable linkage. The leg mechanism presented in the paper is a construction which ensures its functioning with less errors and greater precision due to their minimum modular group number either the inverse or direct model. The inverse model is based on a passive modular group firstly met and used in the structure of mechanism. As to the direct model the active modular group with two degree of mobility previously presented has also a new structure.