Paper Title:
Optimization Synthesis on Water Running Mechanism of Biped Robot
  Abstract

A mechanism based on a four-linkage mechanism and a hybrid-drive six-linkage mechanism is designed to imitate the function of the basilisk lizard running on water. The kinematics analysis of the water running mechanism is carried out by using the linkage mechanism kinematics and the D-H method. Then the stability analysis of the mechanism is carried out according to the critical conditions. At last the mechanism is simulated and optimized for getting the maximum momentum in the slap phase and the maximum force in the stroke phase. And the simulation result shows that the mechanism can satisfy the requirement of biped water running.

  Info
Periodical
Advanced Materials Research (Volumes 211-212)
Edited by
Ran Chen
Pages
454-459
DOI
10.4028/www.scientific.net/AMR.211-212.454
Citation
L. S. Xu, B. Li, F. Xu, J. H. Zhao, B. L. Feng, "Optimization Synthesis on Water Running Mechanism of Biped Robot", Advanced Materials Research, Vols. 211-212, pp. 454-459, 2011
Online since
February 2011
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Price
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