Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/13212
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dc.contributor.authorDemirel, Muraten_US
dc.contributor.authorKiper, Gökhanen_US
dc.contributor.authorCarbone, Giuseppeen_US
dc.contributor.authorCeccarelli, Marcoen_US
dc.date.accessioned2023-03-08T11:30:46Z-
dc.date.available2023-03-08T11:30:46Z-
dc.date.issued2023-02-
dc.identifier.urihttps://doi.org/10.1017/S0263574723000140-
dc.identifier.urihttps://hdl.handle.net/11147/13212-
dc.description.abstractIn this paper, a novel cable-constrained parallel mechanism is presented as a lightweight, low-cost leg mechanism design for walking machines to be used on flat surfaces. The proposed leg mechanism has three translational degrees of freedom. It is based on two specific hybrid kinematic topologies being herewith proposed. The paper reports the kinematic analysis formulation and a position performance evaluation to confirm the main characteristics of the proposed solutions. A 3D CAD model and simulations are carried out to demonstrate the feasibility of the proposed design for performing a human-like gait trajectory. A prototype has been built, and preliminarily tests have been conducted to confirm the motion capabilities of the proposed mechanism design. Then a second, enhanced prototype has been designed and built. An experimental validation is carried out for tracking a planar walking trajectory with the built prototypes by using a real-time PCI controller. Results are presented to validate the operation characteristics of the proposed mechanism and to prove its feasibility for legged walking machines.en_US
dc.language.isoenen_US
dc.publisherCambridge University Pressen_US
dc.relationKablo Tahrikli Hibrit Paralel Yürüme Mekanizması Prototipi İmalatı ve Testlerien_US
dc.relation.ispartofRoboticaen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectWalking machinesen_US
dc.subjectHybrid leg mechanismsen_US
dc.subjectParallel mechanismen_US
dc.titleDesign of a novel hybrid cable-constrained parallel leg mechanism for biped walking machinesen_US
dc.typeArticleen_US
dc.authorid0000-0001-8793-724Xen_US
dc.institutionauthorDemirel, Muraten_US
dc.institutionauthorKiper, Gökhanen_US
dc.departmentİzmir Institute of Technology. Mechanical Engineeringen_US
dc.identifier.wosWOS:000940724100001en_US
dc.identifier.scopus2-s2.0-85182028851en_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.identifier.doi10.1017/S0263574723000140-
dc.relation.issn0263-5747en_US
dc.relation.grantno2016IYTE41en_US
local.message.claim2023-09-09T21:20:15.677+0300|||rp05102|||submit_approve|||dc_contributor_author|||None*
local.message.claim2023-09-09T21:20:18.534+0300|||rp05102|||submit_approve|||dc_contributor_author|||None*
local.message.claim2023-09-09T21:20:18.534+0300|||rp05102|||submit_approve|||dc_contributor_author|||None*
dc.identifier.scopusqualityQ2-
item.grantfulltextopen-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.cerifentitytypePublications-
item.openairetypeArticle-
item.languageiso639-1en-
item.fulltextWith Fulltext-
crisitem.author.dept03.10. Department of Mechanical Engineering-
crisitem.author.dept03.10. Department of Mechanical Engineering-
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
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