Design of a Planetary Leg Mechanism Using Chebyshev’s Optimization Method
After a brief review of structural schemes of planetary leg mechanisms, an application of Chebyshev’s optimization method to the kinematic design of a planetary leg mechanism is proposed. The graphs herein presented allow a quick proportioning of the mechanism for a given structural error or step lenght. The main advantage of this approach, with respect to other design methods, is the avoidance of noncircular gears for the minimization of structural error.
KeywordsStructural Error Planetary Gear Kinematic Design Dimensional Synthesis Noncircular Gear
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