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Single DOF Leg Mechanisms Analysis Using GIM Software

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New Advances in Mechanism and Machine Science

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 57))

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Abstract

For developing better walking machines researchers are studying different types of leg configuration. Among the variety of leg configurations designed and tested around the world there are few simple and single DOF leg mechanisms that offer a good and economical solution for artificial locomotion. These configurations were already successfully implemented in the structure of various walking prototypes. Choosing the best leg configuration for building a walking robot to ensure stability and certain step characteristics during motion, it can be done by analysing the kinematic characteristics and the path curve shape described by the end point. For this reason, three single DOF leg mechanisms configurations are chosen for being analysed and compared in terms of kinematic properties. Specialized mechanism simulation software was used.

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Acknowledgements

The authors wish to acknowledge Alfonso Hernández, CompMech, Department of Mechanical Engineering, UPVEHU for the permission to use the GIM® software. (www.ehu.es/compmech).

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Authors and Affiliations

  1. Politehnica University of Timisoara, Timişoara, Romania

    F. Pop, C. Pop, E.-C Lovasz, S. M. Grigorescu & I. Cărăbaş

Authors
  1. F. Pop
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  2. C. Pop
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  3. E.-C Lovasz
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  4. S. M. Grigorescu
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  5. I. Cărăbaş
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Corresponding author

Correspondence to C. Pop .

Editor information

Editors and Affiliations

  1. Mechanical Engineering, Mechatronics and Robotics Department, Mechanical Engineering Faculty, “Gheorghe Asachi” Technical University of Iaşi, Iaşi, Romania

    Ioan Doroftei

  2. Mechanical Engineering, Mechatronics and Robotics Department, Mechanical Engineering Faculty, “Gheorghe Asachi” Technical University of Iaşi, Iaşi, Romania

    Cezar Oprisan

  3. Mechanical Systems Engineering Department, Machine Building Faculty, Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Doina Pisla

  4. Mechatronics Department, Mechanical Engineering Faculty, Politehnica University of Timisoara, Timişoara, Romania

    Erwin Christian Lovasz

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Pop, F., Pop, C., Lovasz, EC., Grigorescu, S.M., Cărăbaş, I. (2018). Single DOF Leg Mechanisms Analysis Using GIM Software. In: Doroftei, I., Oprisan, C., Pisla, D., Lovasz, E. (eds) New Advances in Mechanism and Machine Science. Mechanisms and Machine Science, vol 57. Springer, Cham. https://doi.org/10.1007/978-3-319-79111-1_27

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  • DOI: https://doi.org/10.1007/978-3-319-79111-1_27

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-79110-4

  • Online ISBN: 978-3-319-79111-1

  • eBook Packages: EngineeringEngineering (R0)

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