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Open Access Kinematics transmission analysis on anthropopathic mechanical leg based on spatial model technique

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Abstract: In order to make up for the deficiencies of the anthropopathic robots structure and improve its popularity and adaptability, a novel anthropopathic mechanical leg was proposed, and its kinematics transmission analysis was discussed in detail. First of all, the inverse position equations and kinematics transmission equations for the anthropopathic mechanical leg were derived analytically. Then the evaluation indicator of kinematics transmission properties and global performance indicator of kinematics transmission properties for the thigh and calf of anthropopathic mechanical legs were defined based on the position and kinematics analysis. Finally the kinematics atlases were analyzed using the spatial model technique, and the effects of the parameters on the global performance indicator of kinematics transmission were given in the limited space coordinate system. The research results of the kinematics analysis showed that, with the parameters closer to the intermediate value, the evaluation indicator value of global velocity transmission was better; with the increase of the length of rod WE, ED and O1D, the evaluation indicator value of global angle velocity transmission was better; with the decrease of the length of rod OC, BC, DO1 and GH, the evaluation indicator value of global angle velocity transmission was better. The study provides a reference for the parameter optimization and application of the anthropopathic mechanical legs.

Keywords: anthropomorphic robots; anthropopathic mechanical legs; index atlases; kinematics; mechatronics; space models

Document Type: Research Article

Publication date: January 15, 2013

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  • Transations of the Chinese Society of Agricultural Engineering(TCSAE), founded in 1985, is sponsored by the Chinese Chemical Society. TCSAE has been indexed by EI Compendex, CAB Inti, CSA. TCSAE is devoted to reporting the academic developments of Agricultural Engineering mainly in China and some developments from abroad. The primary topics that we consider are the following: comprehensive research, agricultural equipment and mechanization, soil and water engineering, agricultural information and electrical technologies, agricultural bioenvironmental and energy engineering, land consolidation and rehabilitation engineering, agricultural produce processing engineering.
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