Multiobjective optimization of a leg iviechanism witli various spring configurations for force reduction

Journal of Mechanical Design, Transactions of the ASME

Volumn 118, Issue 2, 1996, Pages 179-185

  Shieh, W B ^a   Tsai, L W ^a   Azarm, S ^a   Tits, A L ^b  

^a UNIVERSITY OF MARYLAND   (United States)

^b UNIVERSITY OF MARYLAND   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; ALGORITHMS; CONSTRAINT THEORY; DEGREES OF FREEDOM (MECHANICS); GEOMETRY; OPTIMIZATION; SPRINGS (COMPONENTS); TORQUE; TRANSMISSIONS;

ACTUATING FORCE; CRANK TORQUE; LEG MECHANISM; PANTOGRAPH; WALKING MACHINE;

MECHANISMS;

EID: 0030172908     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2826867     Document Type: Article

References (9)

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2. Dhandapani, S., and Ogot, M. M., 1994, “Modeling of a Leg System to Illustrate the Feasibility of Energy Recovery in Walking Machines,” Advances in Design Automation, DE-Vol. 69-2, ASME Pub., pp. 429-436.
3. Fan, M. K. H., Wang, L. S., Koninckx, J., and Tits, A. L., 1990, CONSOLEUser's Manual, Version 1.1, SRC-TR-87-212r2, Institute for Systems Research, University of Maryland, College Park, Maryland.
4. Hartenberg, R., and Denavit, J., 1964, Kinematics Synthesis of Linkages, McGraw-Hill, New York, NY.
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6. Matthew, G. K., and Tesar, D., 1977b, “Synthesis of Spring Parameters to Balance General Forcing Functions in Plannar Mechanisms,” ASME Journal of Engineering for Industry, pp. 347-352.
7. Shieh, W., Azarm, S., Tsai, L. W., and Tits, A. L., 1994, “Optimization-Based Design of a Leg Mechanism via Combined Mechanism and Structural Analysis,” Advances in Design Automation, DE-Vol. 69-1, ASME Pub, pp. 199-209.
8. Shin, E., and Streit, D. A., 1993, “An Energy Efficient Quadruped with Two- Stage Equilibrator,” ASME JOURNAL OF MECHANICAL DESIGN, Vol, U5, No. 1, pp. 156-163.
9. Williams, R. P., Tsai, L. W., and Azarm, S., 1991, “Design of a Crank-and- Rocker Driven Pantograph: A Leg Mechanism for the University of Maryland's 1991 Walking Robot,” Proc. of 2nd Nat. Conf. on Applied Mechanisms and Robotics, Vol. 1, Paper No. VIB.2, Cincinnati, OH.