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Research Papers

Biped RCCR Mechanism

[+] Author and Article Information
Liu Chao

School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China

Yao Yan-An1

School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, Chinayayao@bjtu.edu.cn

1

Corresponding author.

J. Mech. Des 131(3), 031010 (Mar 09, 2009) (6 pages) doi:10.1115/1.3086787 History: Received July 06, 2008; Revised January 04, 2009; Published March 09, 2009

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.

FIGURES IN THIS ARTICLE
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Copyright © 2009 by American Society of Mechanical Engineers
Topics: Mechanisms , Stability
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References

Figures

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Figure 1

3D model and schematic diagram of the biped RCCR mechanism

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Figure 2

The screw systems of the biped RCCR mechanism

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Figure 3

The two-foot-on-ground position of the biped RCCR mechanism

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Figure 4

The singular position of the biped RCCR mechanism

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Figure 5

The foot workspace of the biped RCCR mechanism

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Figure 6

The locomotion phrases along a straight line path

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Figure 7

The locomotion phrases along a curve path

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Figure 8

Projections of the biped RCCR mechanism on the xoz and yoz planes

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Figure 9

ZMP trajectory changing with the input angle

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Figure 10

Prototype of the biped RCCR mechanism

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