A feasibility study on the mechanical designand walking operation of a Cassino biped locomotor ispresented in this paper. The biped locomotor consists oftwo identical 3 degrees-of-freedom tripod leg mechanismswith a parallel manipulator architecture. Planning of thebiped walking gait is performed by coordinating themotions of the two leg mechanisms and waist. A threedimensionalmodel is elaborated in SolidWorks® environmentin order to characterize a feasible mechanical design.Dynamic simulation is carried out in MSC.ADAMS®environment with the aims of characterizing and evaluatingthe dynamic walking performance of the proposeddesign. Simulation results show that the proposed bipedlocomotor with proper input motions of linear actuatorsperforms practical and feasible walking on flat surfaceswith limited actuation and reaction forces between its feetand the ground. A preliminary prototype of the bipedlocomotor is built for the purpose of evaluating theoperation performance of the biped walking gait of theproposed locomotor.

A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

Carbone Giuseppe
2016

Abstract

A feasibility study on the mechanical designand walking operation of a Cassino biped locomotor ispresented in this paper. The biped locomotor consists oftwo identical 3 degrees-of-freedom tripod leg mechanismswith a parallel manipulator architecture. Planning of thebiped walking gait is performed by coordinating themotions of the two leg mechanisms and waist. A threedimensionalmodel is elaborated in SolidWorks® environmentin order to characterize a feasible mechanical design.Dynamic simulation is carried out in MSC.ADAMS®environment with the aims of characterizing and evaluatingthe dynamic walking performance of the proposeddesign. Simulation results show that the proposed bipedlocomotor with proper input motions of linear actuatorsperforms practical and feasible walking on flat surfaceswith limited actuation and reaction forces between its feetand the ground. A preliminary prototype of the bipedlocomotor is built for the purpose of evaluating theoperation performance of the biped walking gait of theproposed locomotor.
feasibility study; biped locomotor; bipedwalking; mechanical design; dynamic simulation; tripodleg mechanism; 3-UPU parallel manipulator
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/20.500.11770/300902
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