| contributor author | Saab, Wael | |
| contributor author | Rone, William S. | |
| contributor author | Ben-Tzvi, Pinhas | |
| date accessioned | 2017-11-25T07:18:16Z | |
| date available | 2017-11-25T07:18:16Z | |
| date copyright | 2017/9/3 | |
| date issued | 2017 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_009_02_024501.pdf | |
| identifier uri | http://138.201.223.254:8080/yetl1/handle/yetl/4235080 | |
| description abstract | This paper presents the design and analysis of a reduced degree-of-freedom (DOF) robotic modular leg (RML) mechanism. The RML is composed of a two serially connected four-bar mechanisms that utilize mechanical constraints between articulations to maintain a parallel orientation between the foot and body without the use of an actuated ankle. Kinematic and dynamic models are developed for the leg mechanism and used to analyze actuation requirements and aid motor selection. Experimental results of an integrated prototype tracking a desired foot trajectory are analyzed to improve the accuracy and repeatability of the mechanism. The prototype weighs 4.7 kg and measures 368 mm in a fully extended configuration and exhibits a maximum deviation from the straight line support phase equivalent to 5.2 mm. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Robotic Modular Leg: Design, Analysis, and Experimentation | |
| type | Journal Paper | |
| journal volume | 9 | |
| journal issue | 2 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4035685 | |
| journal fristpage | 24501 | |
| journal lastpage | 024501-6 | |
| tree | Journal of Mechanisms and Robotics:;2017:;volume( 009 ):;issue: 002 | |
| contenttype | Fulltext | |