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Design of a novel hybrid cable-constrained parallel leg mechanism for biped walking machines

Published online by Cambridge University Press:  28 February 2023

Murat Demirel ,
Gökhan Kiper Open the ORCID record for Gökhan Kiper [Opens in a new window] ,
Giuseppe Carbone Open the ORCID record for Giuseppe Carbone [Opens in a new window]  and
Marco Ceccarelli Open the ORCID record for Marco Ceccarelli [Opens in a new window]
Murat Demirel
Affiliation:
Department of Mechanical Engineering, İzmir Institute of Technology, İzmir, Turkey
Gökhan Kiper*
Affiliation:
Department of Mechanical Engineering, İzmir Institute of Technology, İzmir, Turkey
Giuseppe Carbone
Affiliation:
Department of Mechanical, Energy and Management Engineering, University of Calabria, Rende, Italy
Marco Ceccarelli
Affiliation:
Department of Industrial Engineering, University of Rome Tor Vergata, Rome, Italy
*
*Corresponding author. E-mail: gokhankiper@iyte.edu.tr
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Abstract

In this paper, a novel cable-constrained parallel mechanism is presented as a lightweight, low-cost leg mechanism design for walking machines to be used on flat surfaces. The proposed leg mechanism has three translational degrees of freedom. It is based on two specific hybrid kinematic topologies being herewith proposed. The paper reports the kinematic analysis formulation and a position performance evaluation to confirm the main characteristics of the proposed solutions. A 3D CAD model and simulations are carried out to demonstrate the feasibility of the proposed design for performing a human-like gait trajectory. A prototype has been built, and preliminarily tests have been conducted to confirm the motion capabilities of the proposed mechanism design. Then a second, enhanced prototype has been designed and built. An experimental validation is carried out for tracking a planar walking trajectory with the built prototypes by using a real-time PCI controller. Results are presented to validate the operation characteristics of the proposed mechanism and to prove its feasibility for legged walking machines.

Keywords

walking machineshybrid leg mechanismscable-constrained parallel mechanisms
Type
Research Article
Information
Robotica , Volume 41 , Issue 6 , June 2023 , pp. 1778 - 1793
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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