Novel solution for leg motion with 5-link belt mechanism

• Autorzy: Lovasz E. C. , Pop C. , Pop F. , Dolga V.

Identyfikatory

DOI

10.2478/ijame-2014-0048

• Języki publikacji: EN

Abstrakty

EN

From the analysis of Theo Jansen walking mechanism and of the path curve that it describes the reduced capability for crossing over obstacles of the Jansen leg (1 DOF) is pointed out. By using a 5 link belt mechanism with 2 DOF can be adapted for generating similar Jansen mechanism path curve, where the step height of this path can be increased. For this purpose a mathematical model is conceived in order to analyse and determine the parameters for driving and control of the operation of the novel walking leg solution.

Słowa kluczowe

EN

walking leg; Jansen leg; 5-link belt mechanism; path generation; kinematic analysis

PL

analiza kinetyczna; model matematyczny; minirobot

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2014
• Tom: Vol. 19, no. 4
• Strony: 699--708
• Opis fizyczny: Bibliogr. 12 poz., rys., tab., wykr.

Twórcy

autor

Lovasz E. C.

• Department of Mechatronics, Faculty of Mechanical Engineering Politehnica University of Timisoara, ROMANIA

autor

Pop C.

• Department of Mechatronics, Faculty of Mechanical Engineering Politehnica University of Timisoara, ROMANIA

autor

Pop F.

• Department of Mechatronics, Faculty of Mechanical Engineering Politehnica University of Timisoara, ROMANIA

autor

Dolga V.

• Department of Mechatronics, Faculty of Mechanical Engineering Politehnica University of Timisoara, ROMANIA

Bibliografia

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• [4] Jansen T. (2007): The Great Pretender. - 010 Publishers, Rotterdam.
• [5] Komoda K. and Wagatsuma H. (2011): A study of availability and extensibility of Theo Jansen mechanism toward climbing over bumps. - The 21st Annual Conference of the Japanese Neural Network Society, December, pp.28.
• [6] Liang C., Ceccarelli M. and Takeda Y. (2008): Operation Analysis of a One-DOF Pantograph Leg Mechanisms. - Proceedings of the RAAD 2008, 17th International Workshop on Robotics in Alpe-Adria-Danube Region, September 15-17, Ancona, Italy.
• [7] Lokhande N.G. and Emche V.B. (2013): Mechanical Spider by Using Klann Mechanism. - International Journal of Mechanical Engineering and Computer Applications, vol.1, No.5, Special Issue, pp.13-16.
• [8] Lovasz E.-C., Perju D., Modler K.-H., Gruescu C.M., Mărgineanu D., Moldovan C.E. and Pop C. (2014): Path Generating Belt Mechanisms as Kinematic Chains for Mechatronic Applications. - EUCOMES, Guimarães Portugal, 2014.
• [9] Moldovan F. (2013): Cercetari privind analiza si sinteza unui mecanism cu bare pentru constructia unui robot mobil pasitor (Research regarding analysis and synthesis of a bar mechanism for constructing a walking robot). - PhD thesis, Timisoara.
• [10] Nansai S., Rajesh Elarab M. and Iwasea M. (2013): Dynamic analysis and modelling of Jansen mechanism. - Procedia Engineering 64, pp.1562-1571.
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