Paper Info
Title
Topological Analysis of a Novel Compact Omnidirectional Three-Legged Robot with Parallel Hip Structures Regarding Locomotion Capability and Load Distribution
Abstract
In this study, a novel design for a compact, lightweight, agile, omnidirectional three-legged robot involving legs with four degrees of freedom, utilizing an spherical parallel mechanism with an additional non-redundant central support joint for the robot hip structure is proposed. The general design and conceptual ideas for the robot are presented, targeting a close match of the well-known SLIP-model. CAD models, 3d-printed prototypes, and proof-of-concept multi-body simulations are shown, investigating the feasibility to employ a geometrically dense spherical parallel manipulator with completely spherically shaped shell-type parts for the highly force-loaded application in the legged robot hip mechanism. Furthermore, in this study, an analytic expression is derived, yielding the calculation of stress forces acting inside the linkage structures, by directly constructing the manipulator hip Jacobian inside the force domain.
Year
DOI
Venue
2021
10.3390/robotics10040117
ROBOTICS
Keywords
DocType
Volume
legged robot, locomotion, spherical parallel manipulator, kinetostatic analysis, multi-body simulation
Journal
10
Issue
Citations 
PageRank 
4
0
0.34
References 
Authors
0
2
Name
Order
Citations
PageRank
David Feller100.68
Christian Siemers200.68