Bi-Mobile Leg Mechanism Dynamic Model


Article Preview

The paper brings into attention the dynamic analysis of a bi-mobile mechanism selected from the literature and used for the leg of a mobile platform. Two solutions of bi-mobile mechanical systems applied in such purpose are found. In the classic theory of mechanisms the dynamic models for the mono-mobile mechanisms are known. Through the motion equation these put into evidence the variation of the reduced moment or reduced force applied to the input link for an entire cycle in the permanent regime functioning of the mechanism. In the case of the leg bi-mobile mechanism the approached dynamic model is based on the bi-mobile RTRTR active group firstly applied for a real technique solution in robotics. The mechanism may be also used for robot arms.



Edited by:

Prof. Adrian Olaru




A. Comanescu et al., "Bi-Mobile Leg Mechanism Dynamic Model", Applied Mechanics and Materials, Vol. 811, pp. 273-278, 2015

Online since:

November 2015




* - Corresponding Author

[1] http: /en. wikipedia. org/wiki/ Leg_mechanism#mediaviewer/File: RPRPR_leg_mechanism. gif.

[2] http: /commons. wikimedia. org/wiki/ File: Tokyo_Institute_of_Technology_leg_mechanism. gif.

[3] Kakudou, T., Watanabe, K. and Nagai, I. Study on Mobile Mechanism of a Climbing Robot for Stair Cleaning: a Translational Locomotion Mechanism and Turning Motion, Journal Artificial Life and Robotics, vol. 17, issue 3-4, Springer-Verlag New York, (2013).


[4] Adr. Comanescu, D. Comanescu, I. Dugaeşescu, A. Boureci, Bazele modelării mecanismelor, Politehnica Press, Bucureşti, (2010).

[5] Chr. Pelecudi, Bazele analizei mecanismelor, Editura Academiei Romane, (1962).