Kecskeméthy, Andrés:
A Spatial Leg Mechanism With Anthropomorphic Properties for Ambulatory Robots
In: Advances in Robotic Kinematics / Lenarcic, J.; Ravani, B. (Hrsg.). - Dordrecht, Boston, London, 1994, S. 161 - 170
1994Buchaufsatz/Kapitel in Sammelwerk
Maschinenbau
Titel:
A Spatial Leg Mechanism With Anthropomorphic Properties for Ambulatory Robots
Autor*in:
Kecskeméthy, AndrésUDE
GND
172572533
LSF ID
2821
ORCID
0000-0002-2044-7892ORCID iD
Sonstiges
der Hochschule zugeordnete*r Autor*in

Abstract:

A novel anthropomorphic design of a robotic leg device featuring a apherical hip joint and linear actuators is presented. The typical large swivel motions at hip and knee arising in the case of flexion and extension of the human leg are implemented through appropriate twoloop transmission mechanism, while the limited range of lateral and longitudinal rotations at the hip is used for furnishing the mechanism with low-cost self-aligning joints in lien of ideal spherical pairs. The paper describes the closed-form, recursive solution of the direct kinematics and the statistics of the mechanism, as well as some results of computer simulations.