|
1
|
Wang M, Ceccarelli M, Carbone G. Design and Development of the Cassino Biped Locomotor. JOURNAL OF MECHANISMS AND ROBOTICS 2020. [DOI: 10.1115/1.4045181] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
Abstract
In this work, the Cassino Biped Locomotor, a biped walking robot, is presented as the leg design by using reduced parallel mechanisms. The proposed biped locomotor consists of two identical tripod leg mechanisms with a three degree-of-freedom parallel manipulator architecture. Kinematics analysis is carried out in terms of the forward and inverse kinematics of one leg mechanism and inverse kinematics of the biped locomotor. The walking operation is discussed in detail with gait planning and trajectories of feet and waist. A CAD model is elaborated in solidworks® environment and the corresponding prototype is fabricated with low-cost user-oriented features by using commercial components and structural parts that are manufactured by using 3D printing. An experimental layout and corresponding test modes are illustrated for characterizing the walking operation performance. Experimental results are analyzed for an operation performance evaluation and architecture design characterization of the Cassino Biped Locomotor.
Collapse
Affiliation(s)
- Mingfeng Wang
- School of Mechanical and Electrical Engineering, State Key Laboratory of High-Performance Complex Manufacturing, Central South University, Changsha, Hunan 410083, China
| | - Marco Ceccarelli
- LARM2: Laboratory of Robot Mechatronics, University of Rome Tor Vergata, Roma 00133, Italy
| | - Giuseppe Carbone
- Department of Mechanical, Energy and Management Engineering, University of Calabria, Rende 87036, Italy
| |
Collapse
|
|
2
|
A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation. FRONTIERS OF MECHANICAL ENGINEERING 2016. [DOI: 10.1007/s11465-016-0391-0] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 10/21/2022]
|