Mechanism Optimization of A New Integrated Leg for Legged Robots.

Saved in:

Bibliographic Details
Title:	Mechanism Optimization of A New Integrated Leg for Legged Robots.
Authors:	Yansong Song¹ songys199891@163.com, Xinyu Zhao¹ zhaoxinyu7419@163.com, Xianyue Gang² gangxianyue@sdut.edu.cn, Hui Chai³ chaimax@sdu.edu.cn, Peng Fu³ fupeng0038@gmail.com
Source:	IAENG International Journal of Applied Mathematics. Oct2024, Vol. 54 Issue 10, p1915-1922. 8p.
Subjects:	Vector algebra, Hydraulic cylinders, Geometric analysis, Robot design & construction, Robots
Abstract:	The leg mechanism holds considerable significance for the load-bearing and lightweight design of legged robots. Herein, an integrated leg system was constructed to address the instability challenges in extreme operational environments. Utilizing the vector algebra and linear transformation methods, the explicit geometric analysis equations and quasi-static force balance equations for the leg mechanism were established. Subsequently, an optimization model was proposed with the coordinates of joint points as the design variables, leading to an optimized structural layout for the leg mechanism. The results show that the optimized leg mechanism effectively reduces the peak force of the hydraulic cylinder, thereby enhancing its extreme load-bearing capacity. [ABSTRACT FROM AUTHOR]
	Copyright of IAENG International Journal of Applied Mathematics is the property of International Association of Engineers (IAENG) and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database:	Engineering Source

Description
Abstract:	The leg mechanism holds considerable significance for the load-bearing and lightweight design of legged robots. Herein, an integrated leg system was constructed to address the instability challenges in extreme operational environments. Utilizing the vector algebra and linear transformation methods, the explicit geometric analysis equations and quasi-static force balance equations for the leg mechanism were established. Subsequently, an optimization model was proposed with the coordinates of joint points as the design variables, leading to an optimized structural layout for the leg mechanism. The results show that the optimized leg mechanism effectively reduces the peak force of the hydraulic cylinder, thereby enhancing its extreme load-bearing capacity. [ABSTRACT FROM AUTHOR]
ISSN:	19929978