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