This paper modifies Jansen’s leg mechanism so that it is formed by an RR serial chain with hip and knee joints driven by separate four-bar function generators with one input. Kinematic synthesis of the two function generators programs the joint movement of the RR leg to achieve a desired foot trajectory. The two input cranks can be connected by gears to form a one degree-of-freedom system that generalizes the Jansen leg mechanism. An example design is presented.


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    Titel :

    Kinematic Synthesis of a Modified Jansen Leg Mechanism


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Lenarčič, Jadran (Herausgeber:in) / Siciliano, Bruno (Herausgeber:in) / Chen, Kevin (Autor:in) / McCarthy, J. Michael (Autor:in)

    Kongress:

    International Symposium on Advances in Robot Kinematics ; 2020 ; Ljubljana, Slovenia December 06, 2020 - December 10, 2020



    Erscheinungsdatum :

    18.07.2020


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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