Serially-Linked Parallel Leg Design for Biped Robots
نویسندگان
چکیده
In this paper, we propose a biped robot each of whose legs is composed of two 3-DOF parallel platforms that are linked serially. The thigh of each leg consists of a 3-DOF orientation platform and the shank consists of 3-DOF asymmetric parallel platform. The former consists of 3 active linear actuators and 7 passive joints. And the latter consists of two active linear actuators, one active rotational actuator, and 5 passive joints. Also, the active and passive joints are configured to move freely without any kinematic constraints. The effectiveness and the performance of the proposed parallel platforms with some locomotion trajectory are demonstrated in computer simulations. They indicate that the proposed robot can move freely in man-made environment and can be used in many areas including medical applications and welfare where heavy payloads are to be needed.
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