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RESEARCH PAPERS

Multiobjective Optimization of a Leg Mechanism With Various Spring Configurations for Force Reduction

[+] Author and Article Information
W.-B. Shieh, L.-W. Tsai, S. Azarm

Mechanical Engineering Department, Institute for Systems Research, University of Maryland, College Park, MD

A. L. Tits

Electrical Engineering Department, Institute for Systems Research, University of Maryland, College Park, MD

J. Mech. Des 118(2), 179-185 (Jun 01, 1996) (7 pages) doi:10.1115/1.2826867 History: Received February 01, 1995; Revised December 01, 1995; Online December 11, 2007

Abstract

In this paper, the design of a two degree-of-freedom leg mechanism is accomplished by a two-stage optimization process. In the first stage, leg dimensions are optimized with respect to three design objectives: minimize (i) peak crank torque for an entire walking cycle, (ii) leg size, and (iii) vertical actuating force. Following the optimization of leg dimensions, in the second stage, spring elements with various placement configurations are considered for further reduction of the actuating force and crank torque. Several tradeoff solutions are obtained and a comparison between various spring configurations is made. It is shown that the inclusion of spring elements can significantly reduce the actuating force and crank torque.

Copyright © 1996 by The American Society of Mechanical Engineers
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