Paper Info
Title
Mechanical Design and Analysis of a Novel Three-Legged, Compact, Lightweight, Omnidirectional, Serial-Parallel Robot with Compliant Agile Legs
Abstract
In this work, the concept and mechanical design of a novel compact, lightweight, omnidirectional three-legged robot, featuring a hybrid serial-parallel topology including leg compliance is proposed. The proposal focusses deeply on the design aspects of the mechanical realisation of the robot based on its 3D-CAD assembly, while also discussing the results of multi-body simulations, exploring the characteristic properties of the mechanical system, regarding the locomotion feasibility of the robot model. Finally, a real-world prototype depicting a single robot leg is presented, which was built by highly leaning into a composite design, combining complex 3D-printed parts with stiff aluminium and polycarbonate parts, allowing for a mechanically dense and slim construction. Eventually, experiments on the prototype leg are demonstrated, showing the mechanical model operating in the real world.
Year
DOI
Venue
2022
10.3390/robotics11020039
ROBOTICS
Keywords
DocType
Volume
legged robot, locomotion, spherical parallel manipulator, multi-body simulation, 3D printing, mechanical design
Journal
11
Issue
ISSN
Citations 
2
2218-6581
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
David Feller100.68
Christian Siemers200.68