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dc.contributor.authorDemirel, Murat
dc.contributor.authorCarbone, Giuseppe
dc.contributor.authorCeccarelli, Marco
dc.contributor.authorKiper, Gökhan
dc.date.accessioned2018-06-11T06:36:58Z
dc.date.available2018-06-11T06:36:58Z
dc.date.issued2018-06-06
dc.identifier.citationDemirel, M., Carbone, G., Ceccarelli, M., and Kiper, G. (2018). Design and Simulation of a Novel Hybrid Leg Mechanism for Walking Machines. In Doroftei I., Oprisan C., Pisla D., & Lovasz E. (Eds.), New Advances in Mechanism and Machine Science. Mechanisms and Machine Science, (pp. 283-290). Springer, Cham.doi:10.1007/978-3-319-79111-1_28en_US
dc.identifier.isbn978-3-319-79111-1
dc.identifier.urihttps://doi.org/10.1007/978-3-319-79111-1_28
dc.identifier.urihttp://hdl.handle.net/11147/6902
dc.description.abstractThis paper introduces a novel hybrid structure design that is composed of rigid links and cables for a robotic leg with static walking. The proposed mechanism is characterized by actuated hip joints, passive knee joints and an actuated prismatic foot joint. The foot is the moving platform of the proposed mechanism which possesses pure translational motion due to the passive parallelograms with cables. Kinematic analysis has been worked out for evaluating a typical human-like gait trajectory. A 3-D model has been developed and simulation are made in SolidWorks® environment. Simulation results show that the proposed mechanism is able to perform an ovoid walking cycle of a foot point and the computed actuator torques and forces are in a feasible range for a low-cost and easy-operation design. The simulation results will be used for a prototype construction in a future work.en_US
dc.language.isoengen_US
dc.publisherSpringeren_US
dc.relation.isversionof10.1007/978-3-319-79111-1_28en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectWalking machinesen_US
dc.subjectHybrid mechanismsen_US
dc.subjectLeg mechanismsen_US
dc.subjectStatic walking simulationen_US
dc.titleDesign and simulation of a novel hybrid leg mechanism for walking machinesen_US
dc.typeconferenceObjecten_US
dc.contributor.authorIDTR246461en_US
dc.contributor.authorIDTR24470en_US
dc.contributor.iztechauthorDemirel, Murat
dc.contributor.iztechauthorKiper, Gökhan
dc.relation.journalNew Advances in Mechanism and Machine Science: Proceedings of the 12th IFToMM International Symposium on Science of Mechanisms and Machines (SYROM 2017)en_US
dc.contributor.departmentİYTE, Mühendislik Fakültesi, Makina Mühendisliği Bölümüen_US
dc.identifier.volume57en_US
dc.identifier.startpage283en_US
dc.identifier.endpage290en_US
dc.identifier.scopusSCOPUS:2-s2.0-85047610682


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