Design and Simulation of a Novel Hybrid Leg Mechanism for Walking Machines
| dc.contributor.author | Demirel, Murat | |
| dc.contributor.author | Carbone, Giuseppe | |
| dc.contributor.author | Ceccarelli, Marco | |
| dc.contributor.author | Kiper, Gökhan | |
| dc.coverage.doi | 10.1007/978-3-319-79111-1_28 | |
| dc.date.accessioned | 2018-06-11T06:36:58Z | |
| dc.date.available | 2018-06-11T06:36:58Z | |
| dc.date.issued | 2018 | |
| dc.description.abstract | This paper introduces a novel hybrid structure design that is composed of rigid links and cables for a robotic leg with static walking. The proposed mechanism is characterized by actuated hip joints, passive knee joints and an actuated prismatic foot joint. The foot is the moving platform of the proposed mechanism which possesses pure translational motion due to the passive parallelograms with cables. Kinematic analysis has been worked out for evaluating a typical human-like gait trajectory. A 3-D model has been developed and simulation are made in SolidWorks® environment. Simulation results show that the proposed mechanism is able to perform an ovoid walking cycle of a foot point and the computed actuator torques and forces are in a feasible range for a low-cost and easy-operation design. The simulation results will be used for a prototype construction in a future work. | en_US |
| dc.identifier.citation | Demirel, M., Carbone, G., Ceccarelli, M., and Kiper, G. (2018). Design and Simulation of a Novel Hybrid Leg Mechanism for Walking Machines. In Doroftei I., Oprisan C., Pisla D., & Lovasz E. (Eds.), New Advances in Mechanism and Machine Science. Mechanisms and Machine Science, (pp. 283-290). Springer, Cham.doi:10.1007/978-3-319-79111-1_28 | en_US |
| dc.identifier.doi | 10.1007/978-3-319-79111-1_28 | en_US |
| dc.identifier.doi | 10.1007/978-3-319-79111-1_28 | |
| dc.identifier.isbn | 978-3-319-79111-1 | |
| dc.identifier.scopus | 2-s2.0-85047610682 | |
| dc.identifier.uri | https://doi.org/10.1007/978-3-319-79111-1_28 | |
| dc.identifier.uri | https://hdl.handle.net/11147/6902 | |
| dc.language.iso | en | en_US |
| dc.publisher | Springer Verlag | en_US |
| dc.relation.ispartof | New Advances in Mechanism and Machine Science: Proceedings of the 12th IFToMM International Symposium on Science of Mechanisms and Machines (SYROM 2017) | en_US |
| dc.rights | info:eu-repo/semantics/openAccess | en_US |
| dc.subject | Walking machines | en_US |
| dc.subject | Hybrid mechanisms | en_US |
| dc.subject | Leg mechanisms | en_US |
| dc.subject | Static walking simulation | en_US |
| dc.title | Design and Simulation of a Novel Hybrid Leg Mechanism for Walking Machines | en_US |
| dc.type | Conference Object | en_US |
| dspace.entity.type | Publication | |
| gdc.author.institutional | Demirel, Murat | |
| gdc.author.institutional | Kiper, Gökhan | |
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| gdc.description.department | İzmir Institute of Technology. Mechanical Engineering | en_US |
| gdc.description.endpage | 290 | en_US |
| gdc.description.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | N/A | |
| gdc.description.startpage | 283 | en_US |
| gdc.description.volume | 57 | en_US |
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| gdc.oaire.keywords | Static walking simulation | |
| gdc.oaire.keywords | Leg mechanisms | |
| gdc.oaire.keywords | Hybrid mechanisms | |
| gdc.oaire.keywords | Walking machines | |
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