Novel Solution for Leg Motion with 5-Link Belt Mechanism

Lovasz E.Ch.; Pop C.; Pop F.; Dolga V.

doi:10.2478/ijame-2014-0048

International Journal of Applied Mechanics and Engineering (Nov 2014)

Novel Solution for Leg Motion with 5-Link Belt Mechanism

Lovasz E.Ch.,
Pop C.,
Pop F.,
Dolga V.

Affiliations

Lovasz E.Ch.: Department of Mechatronics, Faculty of Mechanical Engineering Politehnica University of Timisoara, Romania
Pop C.: Department of Mechatronics, Faculty of Mechanical Engineering Politehnica University of Timisoara, Romania
Pop F.: Department of Mechatronics, Faculty of Mechanical Engineering Politehnica University of Timisoara, Romania
Dolga V.: Department of Mechatronics, Faculty of Mechanical Engineering Politehnica University of Timisoara, Romania

DOI: https://doi.org/10.2478/ijame-2014-0048
Journal volume & issue: Vol. 19, no. 4
pp. 699 – 708

Abstract

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From the analysis of Theo Jansen walking mechanism and of the path curve that it describes the reduced capability for crossing over obstacles of the Jansen leg (1 DOF) is pointed out. By using a 5 link belt mechanism with 2 DOF can be adapted for generating similar Jansen mechanism path curve, where the step height of this path can be increased. For this purpose a mathematical model is conceived in order to analyse and determine the parameters for driving and control of the operation of the novel walking leg solution.

Published in International Journal of Applied Mechanics and Engineering

ISSN: 1734-4492 (Print); 2353-9003 (Online)
Publisher: University of Zielona Góra
Country of publisher: Poland
LCC subjects: Technology: Mechanical engineering and machinery
Website: https://www.ijame-poland.com/

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