Walking Ro-Bot:: A state of Art IT based Walking Mechanism - Softcover

Relkar, Anand S; Gadekar, Amit R; Solanki, Ram Kumar

 
9786205633014: Walking Ro-Bot:: A state of Art IT based Walking Mechanism
Softcover
ISBN 10: 6205633019 ISBN 13: 9786205633014
Verlag: LAP LAMBERT Academic Publishing, 2023

Inhaltsangabe

On uneven ground, legged robots have the potential to be a walking machine. Theo Jansen's mechanism, which consists of eleven bar linkages, reproduces a smooth walking pattern known as gait. Parallel motions are commonly used in heavy machinery and have recently been highlighted in a biological motion model. Due to the singularity problem, the close-loop connection just gives a designed end- effector's trajectory, which is believed to be less changeable. The singularity on the modified Theo Jansen mechanism was addressed in this study by introducing the parametric orbit as a new freedom point at the joint center, and multi body dynamics were used to examine its kinematics and dynamics (MBD). In the numerical simulation, the mechanism's extensibility in terms of gait trajectory flexibility was clearly established, resulting in novel functional gait trajectories controlled by two control parameters that modify the form of the parametric oval in the joint center.

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Verlag
LAP LAMBERT Academic Publishing
Erscheinungsdatum
2023
Sprache
Englisch
ISBN 10 
6205633019
ISBN 13 
9786205633014
Einband
Tapa blanda
Anzahl der Seiten
52
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Verantwortliche Person
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