Robotic Modular Leg: Design, Analysis, and Experimentation | Zendy

Wael Saab | Zendy; William S. Rone | Zendy; Pinhas BenTzvi | Zendy

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Robotic Modular Leg: Design, Analysis, and Experimentation

Author(s) -

Wael Saab,

William S. Rone,

Pinhas BenTzvi

Publication year - 2017

Publication title -

journal of mechanisms and robotics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.591

H-Index - 45

eISSN - 1942-4310

pISSN - 1942-4302

DOI - 10.1115/1.4035685

Subject(s) - modular design , kinematics , mechanism (biology) , computer science , orientation (vector space) , trajectory , simulation , four bar linkage , control theory (sociology) , control engineering , engineering , artificial intelligence , mathematics , control (management) , motion (physics) , philosophy , physics , geometry , epistemology , classical mechanics , astronomy , operating system

This paper presents the design and analysis of a reduced degreeof-freedom (DOF) robotic modular leg (RML) mechanism. The RML is composed of a two serially connected four-bar mechanisms that utilize mechanical constraints between articulations to maintain a parallel orientation between the foot and body without the use of an actuated ankle. Kinematic and dynamic models are developed for the leg mechanism and used to analyze actuation requirements and aid motor selection. Experimental results of an integrated prototype tracking a desired foot trajectory are analyzed to improve the accuracy and repeatability of the mechanism. The prototype weighs 4.7 kg and measures 368 mm in a fully extended configuration and exhibits a maximum deviation from the straight line support phase equivalent to 5.2 mm. [DOI: 10.1115/1.4035685]

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