Kinematic Model for Arthropod Legs and Other Manipulators

[+] Author and Article Information
S. L. Albright

Fraunhofer Institute, Berlin, Germany

E. F. Fichter

Mechanical Engineering Department, Oregon State University, Corvallis, OR 97331

B. L. Fichter

Industrial and Manufacturing Engineering Department, Oregon State University, Corvallis, OR 97331

J. Mech. Des 116(1), 22-27 (Mar 01, 1994) (6 pages) doi:10.1115/1.2919352 History: Received July 01, 1992; Online June 02, 2008


Existing kinematic models for linkages fail to satisfy three criteria important for modeling an arthropod leg: (1) proportionality—changes in parameters should be proportional to changes in leg, (2) similarity—legs with similar appearance should have similar model parameters, (3) expandability—model should accommodate both single- and multi-degree-of-freedom joints since both are usually represented on a single leg. The theoretical basis for a linkage model is examined and a model developed with equations for revolute-revolute, revolute-spherical, and revolute-prismatic links. Parameters for legs of a darkling beetle are presented.

Copyright © 1994 by The American Society of Mechanical Engineers
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