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Title: Design of a novel hybrid cable-constrained parallel leg mechanism for biped walking machines
Authors: Demirel, Murat
Kiper, Gökhan
Carbone, Giuseppe
Ceccarelli, Marco
Keywords: Walking machines
Hybrid leg mechanisms
Parallel mechanism
Publisher: Cambridge University Press
Abstract: In 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.
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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