Abstract
Aiming to improve the performances and reduce the manufacturing cost of the current legs for quadruped robots, this paper presents a novel 3 DOF serial-parallel hybrid leg. We design a prototype 3D model and give the analytical expressions of inverse and forward kinematics. End-effector workspace is computed using the numerical forward kinematics. The analysis and calculations show that this hybrid leg with simple structure combines the advantages of both serial and parallel mechanisms: high stiffness, high bearing capacity, low structural inertia and large workspace. This research has great significance to a series of further studies on dynamic analysis, mechanism optimal and system control of this novel hybrid leg.
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Acknowledgment
This research is supported by the national key development plan project of intelligent robot (No. 2018YFB4505), ministry of science and technology of China.
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Zhao, J., Liu, K., Zhao, F., Sun, Z. (2019). Design and Kinematic Analysis on a Novel Serial-Parallel Hybrid Leg for Quadruped Robot. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11742. Springer, Cham. https://doi.org/10.1007/978-3-030-27535-8_39
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DOI: https://doi.org/10.1007/978-3-030-27535-8_39
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