Skip to main content
SpringerLink
Log in

Step Design of a Cassino Tripod Leg Mechanism

  • Conference paper
  • First Online:
Mechanisms, Transmissions and Applications

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 31))

Abstract

In this paper, we present the mechanical design of a tripod leg mechanism for a Cassino biped locomotor. Kinematic properties are investigated to select the proper stroke of the linear actuators and the radius difference between the moving and base plates. Workspace optimization of the adopted 3-UPU manipulator is computed by considering the Global Condition Index and universal joints constraints. Step design of the foot plate is presented and analyzed to improve the performance by changing the initial length and reassembling of the three limbs in the leg mechanism.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 84.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Hardcover Book
USD 109.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Siciliano, B, Khatib, O.: Handbook of Robotics, Part G, Legged Robots, pp. 361–390. Springer, Berlin (2008)

    Google Scholar 

  2. Carbone, G., Ceccarelli, M.: Legged Robotic Systems, Cutting Edge Robotics, pp. 553–576. ARS Scientific Book, Vienna (2005)

    Google Scholar 

  3. Hashimoto, K., et al.: Biped landing pattern modification method and walking experiments in outdoor environment. J. Robot. Mechatron. 20(5), 775–784 (2009)

    Google Scholar 

  4. Ota, Y., et al.: Research on a six-legged walking robot with parallel mechanism. In: Proceedings of International Conference on Intelligent Robots and Systems, Victoria, pp. 241–248 (1998)

    Google Scholar 

  5. Sugahara, Y., Sugahara, Y., Endo, T., Lim, H.O., Takanishi, A..: Design of a battery-powered multi-purpose bipedal locomotor with parallel mechanism. In: Proceedings of International Conference on Intelligent Robots and Systems, Lausanne, vol. 3, pp. 2658–2663 (2002)

    Google Scholar 

  6. Ceccarelli, M., Carbone, G.: A new leg design with parallel mechanism architecture. In: Proceedings of International Conference on Advanced Intelligent Mechatronics, Singapore, pp. 1447–1452 (2009)

    Google Scholar 

  7. Pan, Y., Gao, F.: Payload capability analysis of a new kind of parallel leg hexapod walking robot. In: Proceedings of International Conference on Advanced Mechatronic System, Luoyang, pp. 541–544 (2013)

    Google Scholar 

  8. Wang, H.B., et al.: Application of parallel leg mechanisms in quadruped/biped reconfigurable walking robot. J. Mech. Eng. 45(8), 24–30 (2009)

    Article  Google Scholar 

  9. Wang, M.F., Ceccarelli. M.: Design and simulation of walking operation of a Cassino biped locomotor. In: New Trend in Mechanism and Machine Science, vol. 24, pp. 613–621. Springer, Berlin (2015)

    Google Scholar 

  10. Wang, M.F., Ceccarelli, M., Carbone, G.: Experimental experiences with a LARM tripod leg mechanism. In: Proceedings of 10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), Senigallia, pp. 1–6 (2014)

    Google Scholar 

  11. Tsai, L.W., Joshi, S.A.: Kinematics and optimization of a Spatial3-UPU parallel manipulator. ASME J. Mech. Des. 122, 439–446 (2000)

    Article  Google Scholar 

  12. Gosselin, C., Angeles, J.: A global performance index for the kinematic optimization of robotic manipulators. ASME J. Mech. Design 113(3), 220–226 (1991)

    Article  Google Scholar 

  13. Badescu, M., Morman, J., Mavroidis, C.: Workspace optimization of 3-UPU parallel platforms with joint constraints. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), vol. 4, pp. 3678–3683 (2002)

    Google Scholar 

Download references

Acknowledgments

The first author would like to acknowledge China Scholarship Council (CSC) for supporting his PhD study and research at the Laboratory of Robotics and Mechatronics (LARM) in the University of Cassino and South Latium, Italy, for the years 2013–2015.

Author information

Authors and Affiliations

  1. LARM: Laboratory of Robotics and Mechatronics, DICeM-University of Cassino and South Latium, Cassino, Italy

    Mingfeng Wang & Marco Ceccarelli

Authors
  1. Mingfeng Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Marco Ceccarelli
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Mingfeng Wang .

Editor information

Editors and Affiliations

  1. Department of Mechanism Theory and Dynamics of Machines, RWTH Aachen, Aachen, Germany

    Burkhard Corves

  2. Mechanical Engineering Faculty, Univ. Politehnica Timisoara, Timisoara, Romania

    Erwin-Christian Lovasz

  3. Dept of Mechanism Theory and Dynamics of Machines, RWTH Aachen, Aachen, Germany

    Mathias Hüsing

Rights and permissions

Reprints and permissions

Copyright information

© 2015 Springer International Publishing Switzerland

About this paper

Cite this paper

Wang, M., Ceccarelli, M. (2015). Step Design of a Cassino Tripod Leg Mechanism. In: Corves, B., Lovasz, EC., Hüsing, M. (eds) Mechanisms, Transmissions and Applications. Mechanisms and Machine Science, vol 31. Springer, Cham. https://doi.org/10.1007/978-3-319-17067-1_22

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-17067-1_22

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-17066-4

  • Online ISBN: 978-3-319-17067-1

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation