Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot

Abstract

In this paper, operation analysis of a Chebyshev-Pantograph leg mechanism is presented for a single degree of freedom (DOF) biped robot. The proposed leg mechanism is composed of a Chebyshev four-bar linkage and a pantograph mechanism. In contrast to general fully actuated anthropomorphic leg mechanisms, the proposed leg mechanism has peculiar features like compactness, low-cost, and easy-operation. Kinematic equations of the proposed leg mechanism are formulated for a computer oriented simulation. Simulation results show the operation performance of the proposed leg mechanism with suitable characteristics. A parametric study has been carried out to evaluate the operation performance as function of design parameters. A prototype of a single DOF biped robot equipped with two proposed leg mechanisms has been built at LARM (Laboratory of Robotics and Mechatronics). Experimental test shows practical feasible walking ability of the prototype, as well as drawbacks are discussed for the mechanical design.

Key words： biped robots; leg mechanisms; simulation

Acknowledgements

The first author is supported by the Chinese Scholarship Council (CSC) for his PhD study and research at LARM in the University of Cassino, Italy for the years 2008-2011.

References

1 Song S M, Waldron K J. Machines That Walk: The Adaptive Suspension Vehicle. Cambridge MA: The MIT Press, 1988

2 Carbone G, Ceccarelli M. Legged robotic systems. Cutting Edge Robotics, 2005, 553-576

3 Kanehiro F, Kajita S, Hirukawa H, Kawasaki T, Hirata M, Akachi K, Isozumi T. Humanoid robot HRP-2. In: Proceedings of the 2004 IEEE International Conference on Robotics and Automation, New Orleans, USA, 2004, 1083-1090

4 Omer A M M, Ogura Y, Kondo H, Morishima A, Carbone G, Ceccarelli M, Hun-ok L, Takanishi A. Development of a humanoid robot having 2-DOF waist and 2-DOF trunk. In: Proceedings of the 2005 5th IEEE-RAS International Conference on Humanoid Robots, Tsukuba, Japan, 2005, 333-338

5 Sakagami Y, Watanabe R, Aoyama C, Matsunaga S, Higaki N, Fujimura K. The intelligent ASIMO: System overview and integration. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Switzerland, 2002, 2478-2483

6 Yan H S. Reconstruction Designs of Lost Ancient Chinese Machinery. Dordrecht: Springer, 2007, 269-277

7 Artobolevsky I I. Mechanisms in Modern Engineering Design: A Handbook for Engineers, Designers, and Inventors. Moscow: Mir Publisher, 1979

8 Funabashi H, Horie M, Tachiya H, Tanio S. A synthesis of robotic pantograph mechanisms based on working spaces and static characteristics charts, JSME International Journal Series III, 1991, 34(2): 239-244

9 Shieh W B, Tsai L W, Azarm S. Design and optimization of a one-degree-of-freedom six-bar leg mechanism for a walking machine. Journal of Robotic Systems, 1997, 14(12): 871-880

10 Takeda Y, Higuchi M, Funabashi H, Oki Y, Shimizu K. Development of a walking chair (Fundamental investigations for realizing a practical walking chair). In: Proceedings of the 4th International Conference on Climbing and Walking Robots, Karlsruhe, Germany, 2001, 1037-1044

11 Wu Y F, Nakamura H, Takeda Y, Higuchi M, Sugimoto K. Development of a power assist system of a walking chair based on human arm characteristics. Journal of Advanced Mechanical Design, Systems and Manufacturing, 2007, 1(1): 141-154

12 Ottaviano E, Lanni C, Ceccarelli M. Numerical and experimental analysis of a pantograph-leg with a fully-rotative actuating mechanism. In: Proceedings of the 11th world Congress in Mechanism and Machine Science, Tianjin, China, 2004

13 Ceccarelli M, Figliolini G, Lanni C, Ottaviano E. A study of feasibility for rickshaw type mobile robot. In: Proceedings of the 26th Annual Conference on Industrial Electronics Society, Nagoya, Japan, 2000, 2: 924-926

14 Rodriguez N E N. Anthropomorphic design and operation of a new low-cost humanoid robot. Dissertation for the Doctoral Degree. Cassino: University of Cassino, 2007

15 Mcmahon T A. Mechanics of locomotion. The International Journal of Robotics Research, 1984, 3(2): 4-16

16 Hartenberg R S, Denavit J. Kinematics Synthesis of Linkages. New York: McGraw-Hill, 1964

17 Uicker JJ, Pennock G R, Shigley E. Theory of Machines and Mechanisms. 3rd ed. New York: Oxford University Press, 2003

18 Shieh W B. Design and optimization of planar leg mechanisms featuring symmetrical foot-point paths. Dissertation for the Doctoral Degree. Maryland: University of Maryland, 1996

19 Funabashi H. Adjustable mechanism with variable crank length. Bulletin of the Japan Society of Mechanical Engineers, 1985, 51(470): 2737-2743

20 Funabashi H, Ogawa K, Gotoh Y, Kojima F. Synthesis of leg-mechanism of biped walking machine: Part I, synthesis of ankle-path-generator. Bulletin of the Japan Society of Mechanical Engineers, 1985, 28(237): 537-543

21 Funabashi H, Ogawa K, Honda I, Iwatsuki N. Synthesis of leg-mechanism of biped walking machine: Part II, synthesis of foot-driving mechanism. Bulletin of the Japan Society of Mechanical Engineers, 1985, 28(237): 544-549

22 Mehdigholi H, Akbarnejad S. Optimization of Watt’s six-bar linkage to generate straight and parallel leg motion. Journal of Humanoids, 2008, 1(1):11-16

23 Ottaviano E, Ceccarelli M, Tavolieri C. Kinematic and dynamic analyses of a pantograph-leg for a biped walking machine. Climbing and Walking Robots, 2005, 561-568