Mechanism Optimization of A New Integrated Leg for Legged Robots.
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| Title: | Mechanism Optimization of A New Integrated Leg for Legged Robots. |
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| 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 |
| FullText | Links: – Type: pdflink Text: Availability: 0 |
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| Header | DbId: egs DbLabel: Engineering Source An: 180915459 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Mechanism Optimization of A New Integrated Leg for Legged Robots. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Yansong+Song%22">Yansong Song</searchLink><relatesTo>1</relatesTo><i> songys199891@163.com</i><br /><searchLink fieldCode="AR" term="%22Xinyu+Zhao%22">Xinyu Zhao</searchLink><relatesTo>1</relatesTo><i> zhaoxinyu7419@163.com</i><br /><searchLink fieldCode="AR" term="%22Xianyue+Gang%22">Xianyue Gang</searchLink><relatesTo>2</relatesTo><i> gangxianyue@sdut.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Hui+Chai%22">Hui Chai</searchLink><relatesTo>3</relatesTo><i> chaimax@sdu.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Peng+Fu%22">Peng Fu</searchLink><relatesTo>3</relatesTo><i> fupeng0038@gmail.com</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22IAENG+International+Journal+of+Applied+Mathematics%22">IAENG International Journal of Applied Mathematics</searchLink>. Oct2024, Vol. 54 Issue 10, p1915-1922. 8p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Vector+algebra%22">Vector algebra</searchLink><br /><searchLink fieldCode="DE" term="%22Hydraulic+cylinders%22">Hydraulic cylinders</searchLink><br /><searchLink fieldCode="DE" term="%22Geometric+analysis%22">Geometric analysis</searchLink><br /><searchLink fieldCode="DE" term="%22Robot+design+%26+construction%22">Robot design & construction</searchLink><br /><searchLink fieldCode="DE" term="%22Robots%22">Robots</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: 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] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>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.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 8 StartPage: 1915 Subjects: – SubjectFull: Vector algebra Type: general – SubjectFull: Hydraulic cylinders Type: general – SubjectFull: Geometric analysis Type: general – SubjectFull: Robot design & construction Type: general – SubjectFull: Robots Type: general Titles: – TitleFull: Mechanism Optimization of A New Integrated Leg for Legged Robots. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Yansong Song – PersonEntity: Name: NameFull: Xinyu Zhao – PersonEntity: Name: NameFull: Xianyue Gang – PersonEntity: Name: NameFull: Hui Chai – PersonEntity: Name: NameFull: Peng Fu IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 10 Text: Oct2024 Type: published Y: 2024 Identifiers: – Type: issn-print Value: 19929978 Numbering: – Type: volume Value: 54 – Type: issue Value: 10 Titles: – TitleFull: IAENG International Journal of Applied Mathematics Type: main |
| ResultId | 1 |
