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Theoretical Study of Global Scale Analysis Method for Agile Bionic Leg Mechanism

Published online by Cambridge University Press:  19 June 2019

Hongbin Zang ,
Dengfeng Zhao  and
Lianguan Shen
Hongbin Zang*
Affiliation:
Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China Key Laboratory of Testing Technology for Manufacturing Process of Ministry of Education, Southwest University of Science and Technology, Mianyang 621010, China
Dengfeng Zhao
Affiliation:
Key Laboratory of Testing Technology for Manufacturing Process of Ministry of Education, Southwest University of Science and Technology, Mianyang 621010, China
Lianguan Shen
Affiliation:
Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China
*
*Corresponding author. E-mail: zanghongb@163.com
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Summary

Agile bionic leg mechanism (ABLM) has attracted more and more attention in the development of jumping robots and high-speed running robots. However, theoretical study of the global structure for motility characteristics and its evolution is few. By using the modern mathematical tools such as singular theory, geometric topology, and group theory, a global scale analysis method for kinematic performance of mechanisms is proposed. Taking 6-bar with two rings mechanism as an example, a detailed analysis process is studied. The 6-bar ABLM designed by this theory is verified by virtual prototype simulation experiment. The global scale analysis of 4-bar linkage is also carried out by using this method, and the result is compared with the “Grashof criterion” to verify the correctness of this method. It provides a general theory and method for innovative design and global scale analysis of ABLM.

Keywords

Agile bionic leg mechanismTheoretical studyGlobal scale analysis methodVerificationGeneral theory and method
Type
Articles
Information
Robotica , Volume 38 , Issue 3 , March 2020 , pp. 427 - 441
Copyright
© Cambridge University Press 2019 

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