Bionic-based robotic legs enable the legged robots with elegant and agile mobility in multi-terrain environment,just like natural living beings.And the smart design could efficiently improve the performance of a robot...Bionic-based robotic legs enable the legged robots with elegant and agile mobility in multi-terrain environment,just like natural living beings.And the smart design could efficiently improve the performance of a robotic leg.Inspired by the simplified human leg structure,we present a 3-DOF robotic leg—OmniLeg,that is capable of making omnidirectional legged locomotion while keeping constant posture of the foot.Additionally,the concentrated drive mode,in which all the motor actuators are installed in the torso and do not move with the leg,minimizes the inertia of the robotic leg.In this paper,the modular design,the kinematics model,the structural analysis,the workspace,and the performance evaluation of the OmniLeg are discussed.Furthermore,we build a prototype based on the proposed design,and the precision of it is verified by the error calibration experiment which is conducted by tracking the trajectory of the prototype’s endpoint.Then,we present an OmniLeg-based single legged mobile robot.The capability of omnidirectional legged locomotion of the OmniLeg is demonstrated by the experiments.展开更多
As one of transmission mechanisms,continuously variable transmission(CVT)can transfer energy depending upon rotation speed or torque generated by rotation power transferred from input axis to output axis.It is known t...As one of transmission mechanisms,continuously variable transmission(CVT)can transfer energy depending upon rotation speed or torque generated by rotation power transferred from input axis to output axis.It is known that the CVT is mechanism that can change gear ratios continuously in power transmission installed in vehicles,or power generation and its transfer systems.In this paper,we propose a CVT using a new type of mechanism in which four-bar linkages(quadric crank chains)and non-invertible elements such as one-way clutches or ratchets are installed.The conventional CVTs which are classified as belt-type CVTs or toroidal CVTs are driven by friction force between conduction mechanisms.Due to slippage or high-pressure between the transmission components in the conduction mechanism,the transfer efficiency in the conduction energy becomes inferior.However,the proposed CVT does not depend upon any friction forces,and it is considered that its transfer efficiency is superior.展开更多
基金This work was supported by the National Natural Science Foundation of China(NO.52175069).
文摘Bionic-based robotic legs enable the legged robots with elegant and agile mobility in multi-terrain environment,just like natural living beings.And the smart design could efficiently improve the performance of a robotic leg.Inspired by the simplified human leg structure,we present a 3-DOF robotic leg—OmniLeg,that is capable of making omnidirectional legged locomotion while keeping constant posture of the foot.Additionally,the concentrated drive mode,in which all the motor actuators are installed in the torso and do not move with the leg,minimizes the inertia of the robotic leg.In this paper,the modular design,the kinematics model,the structural analysis,the workspace,and the performance evaluation of the OmniLeg are discussed.Furthermore,we build a prototype based on the proposed design,and the precision of it is verified by the error calibration experiment which is conducted by tracking the trajectory of the prototype’s endpoint.Then,we present an OmniLeg-based single legged mobile robot.The capability of omnidirectional legged locomotion of the OmniLeg is demonstrated by the experiments.
文摘As one of transmission mechanisms,continuously variable transmission(CVT)can transfer energy depending upon rotation speed or torque generated by rotation power transferred from input axis to output axis.It is known that the CVT is mechanism that can change gear ratios continuously in power transmission installed in vehicles,or power generation and its transfer systems.In this paper,we propose a CVT using a new type of mechanism in which four-bar linkages(quadric crank chains)and non-invertible elements such as one-way clutches or ratchets are installed.The conventional CVTs which are classified as belt-type CVTs or toroidal CVTs are driven by friction force between conduction mechanisms.Due to slippage or high-pressure between the transmission components in the conduction mechanism,the transfer efficiency in the conduction energy becomes inferior.However,the proposed CVT does not depend upon any friction forces,and it is considered that its transfer efficiency is superior.
