An untraditional application of the four-link RCCR (two revolute and two cylindric joints) mechanism is presented in this paper and is used as a novel biped walking mechanism. By taking advantage of the singular configuration of the mechanism, two actuators are employed to realize planar movements. Kinematic analysis, gait planning, and stability analysis are performed, and a prototype is developed and tested.
Issue Section:
Research Papers
1.
Harrisberger
, L.
, and Soni
, A. H.
, 1966, “A Survey of Three-Dimensional Mechanisms With One General Constraint
,” ASME Paper No. 66-Mech-44.2.
Hunt
, K. H.
, 1967, “Prismatic Pairs in Spatial Linkages
,” J. Mech.
0022-2569, 2
, pp. 213
–230
.3.
Duffy
, J.
, Gilmartin
, M. J.
, and Kato
, I.
, 1969, “Limit Positions of Four-Link Spatial Mechanisms—1. Mechanisms Having Revolute and Cylindric Pairs
,” J. Mech.
, 4
, pp. 261
–272
. 0022-25694.
Savage
, M.
, 1972, “Four-Link Mechanisms With Cylindric, Revolute and Prismatic Pairs
,” Mech. Mach. Theory
0094-114X, 7
, pp. 191
–210
.5.
Waldron
, K. J.
, 1973, “A Study of Overconstrained Linkage Geometry by Solution of Closure Equations—Part I. Method of Study
,” Mech. Mach. Theory
0094-114X, 8
, pp. 95
–104
.6.
Waldron
, K. J.
, 1973, “A Study of Overconstrained Linkage Geometry by Solution of Closure Equations—Part II. Four-Bar Linkages With Lower Pair Joints Other Than Screw Joints
,” Mech. Mach. Theory
0094-114X, 8
, pp. 233
–247
.7.
Gilmartin
, M. J.
, and Duffy
, J.
, 1975, “Gross Motion Analysis of Overconstrained Spatial Four-Link Mechanisms
,” Fourth World Congress on the Theory of Machine and Mechanism
, pp. 259
–264
.8.
Martinez
, J. M. R.
, and Ravani
, B.
, 2003, “On Mobility Analysis of Linkages Using Group Theory
,” ASME J. Mech. Des.
0161-8458, 125
, pp. 70
–80
.9.
Rico
, J. M.
, and Ravani
, B.
, 2007, “On Calculating the Degrees of Freedom or Mobility of Overconstrained Linkages: Single-Loop Exceptional Linkages
,” ASME J. Mech. Des.
0161-8458, 129
, pp. 301
–311
.10.
Dizioglu
, B.
, 1978, “Theory and Practice of Spatial Mechanisms With Special Position of the Axes
,” Mech. Mach. Theory
0094-114X, 13
, pp. 139
–153
.11.
Fayet
, M.
, 2003, “Distribution of Wrench-Twist Duality in Over-Constrained Mechanisms
,” ASME J. Mech. Des.
0161-8458, 125
, pp. 81
–91
.12.
Hunt
, K. H.
, 1978, Kinematic Geometry of Mechanism
, Clarendon
, Oxford
.13.
Takanishi
, T.
, Ishida
, M.
, Yamazaki
, Y.
, and Kato
, I.
, 1985, “Realization of Dynamic Walking Robot WL-10RD
,” Proceedings of IEEE International Conference on Robotics and Automation
, pp. 459
–466
.Copyright © 2009
by American Society of Mechanical Engineers
You do not currently have access to this content.
