Kinematic analysis of a novel planar six-bar bionic leg

  • Ke Xu
  • Haitao LiuEmail author
  • Xingqiao Zhu
  • Yongbin Song
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


A novel planar six-bar bionic leg is proposed in this paper. The motion equation of this bionic leg is derived fast and conveniently according to the modeling of Assur group and then the trajectory of the foot point of the bionic leg is obtained. Compared with Theo Jansen linkage, the motion characteristics of this leg are evaluated from two aspects: step length and step height of the foot point trajectory. The results show that this novel planar six-bar bionic mechanism still has good motion characteristics under the condition of fewer linkages. Finally, a prototype of an eight-legged bionic walking vehicle is designed.


bionic leg Jansen Linkage Structural Design Kinematic Analysis 


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Key Laboratory of Mechanism Theory and Equipment DesignMinistry of Education, Tianjin UniversityTianjinChina

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