Kinematics of a Reconfigurable Robotic Leg based on the inverse Peaucellier-Lipkin mechanism

This work presents a new Reconfigurable Robotic Leg based on the inverse P-L mechanism that is modified for use in walking machines. It has the ability to describe straight line or curved paths depending on the selected ratio between the lengths of two of its links and its kinematics. It means that...

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Bibliographic Details
Published in2019 IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC) pp. 1 - 5
Main Authors Nunez-Altamirano, Diego A., Torres, Felipe J., Juarez-Campos, Ignacio
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2019
Subjects
Educational robots
Kinematics
Legged locomotion
Liquid crystal displays
Mechanical engineering
Peaucellier-Lipkin
reconfigurable mechanism
robotic leg
Three-dimensional displays
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Summary:This work presents a new Reconfigurable Robotic Leg based on the inverse P-L mechanism that is modified for use in walking machines. It has the ability to describe straight line or curved paths depending on the selected ratio between the lengths of two of its links and its kinematics. It means that the one degree-of-freedom mechanism was transformed into a more sophisticated parallel kinematic chain by the inclusion of four more degrees of freedom. This leg has five DOFs, but only two of them are used for the support and transfer phases. The other three DOFs are used exclusively when the foot needs a reconfiguration to describe a different path during the transfer phase.
ISSN:2573-0770
DOI:10.1109/ROPEC48299.2019.9057073