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International Workshop on Computational Kinematics

IFToMM 2017: Mechanisms, Transmissions and Applications pp 121–130Cite as

Kinematic Design of a Tripod Parallel Mechanism for Robotic Legs

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Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 52))

Abstract

In this paper a parallel manipulator with tripod architecture is proposed with the closed-form formulation of its functioning. The mechanism is 3-Degrees-of-Freedom manipulator that can be used as robotic leg for mobile walking robots with two or more legs. The kinematic design is characterized by direct linear drives in the links of the tripod architecture and by a mechanism providing a spherical motion to the foot end-effector.

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References

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Author information

Authors and Affiliations

  1. LARM, University of Cassino and Southern Latium, Cassino, Italy

    Matteo Russo & Marco Ceccarelli

Authors
  1. Matteo Russo
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  2. Marco Ceccarelli
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Corresponding author

Correspondence to Matteo Russo .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineerin, Izmir Institute of Technology, Izmir, Turkey

    Mehmet Ismet Can Dede

  2. Department of Mechanical Engineering, Karadeniz Technical University , Trabzon, Turkey

    Mehmet İtik

  3. Faculty of Mechanical Engg, Politehnica University of Timisoara, Timisoara, Romania

    Erwin-Christian Lovasz

  4. Makina Mühendisligi Bolumu, Izmir Institute of Technology, Izmir, Turkey

    Gökhan Kiper

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© 2018 Springer International Publishing AG

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Cite this paper

Russo, M., Ceccarelli, M. (2018). Kinematic Design of a Tripod Parallel Mechanism for Robotic Legs. In: Dede, M., İtik, M., Lovasz, EC., Kiper, G. (eds) Mechanisms, Transmissions and Applications. IFToMM 2017. Mechanisms and Machine Science, vol 52. Springer, Cham. https://doi.org/10.1007/978-3-319-60702-3_13

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  • DOI: https://doi.org/10.1007/978-3-319-60702-3_13

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-60701-6

  • Online ISBN: 978-3-319-60702-3

  • eBook Packages: EngineeringEngineering (R0)

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