Advertisement

Design of a Planetary Leg Mechanism Using Chebyshev’s Optimization Method

  • E. Pennestri
  • A. Di Benedetto
  • N. P. Belfiore
Part of the Schriftenreihe der Wissenschaftlichen Landesakademie für Niederösterreich book series (AKADNIEDERÖSTER)

Abstract

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.

Keywords

Structural Error Planetary Gear Kinematic Design Dimensional Synthesis Noncircular Gear 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Bibliography

  1. Bekker, M.G. (1960). Off-The-Road Locomotion, University of Michigan Press, Ann Arbor, Michigan.Google Scholar
  2. Cardenas-Garcia, J.F., Tsai, L.-W. (1989). The Society of Automotive Engineers Walking Machine Decathlon, a National Collegiate Robotics Competition, 1st Nat. Conf. on Applied Mechanisms and Robotics, Cincinnati, Nov. 89, Vol. II, Paper No. 89AMR-7A-6.Google Scholar
  3. Di Benedetto, A., Pennestri E. (1993). Introduzione alia Cinematica dei Meccanismi, vol.1, Casa Editrice Ambrosiana, Milano, pp. 276–301, 390–395.Google Scholar
  4. Freudenstein, F. (1965). Kinematic Synthesis of Rotary-to-Linear Recording Mechanism, Journal of Franklin Institute, vol. 279, n. 5, pp. 325–333.CrossRefGoogle Scholar
  5. Guanxiong Cha, Ravi S. Saastry, Shin-Min Song (1989). A Comparative Study of Leg Mechanisms for Walking Machine Design, Proc. 1st National Applied Mechanisms and Robotics, Cincinnati, Ohio, vol.II, Paper No. 89AMR-7A-3.Google Scholar
  6. Shkolnik, N. (1989). Walking Mechanism, United States Patent.Google Scholar
  7. Song, S.M., Vohnout, V.J., Waldron, K.J., Kinzel, GG.L. (1984). Computer-Aided Design of a Leg for an Energy Efficient Walking Machine, Mech. and Mach. Theory, Vol. 19, No. 1, pp. 17–24.CrossRefGoogle Scholar
  8. Tsai, L.W., Chen, J., Azarm, S. (1989). The Design of a Three Degree-of-Freedom Walking Machine, 1st Nat. Conf. on Applied Mechanisms and Robotics, Cincinnati, Nov. 89, Vol. II, Paper No. 89AMR-7A-1.Google Scholar

Copyright information

© Springer-Verlag/Wien 1994

Authors and Affiliations

  • E. Pennestri
    • 1
  • A. Di Benedetto
    • 2
  • N. P. Belfiore
    • 2
  1. 1.Department of Mechanical EngineeringUniversity of Rome “Tor Vergata”RomeItaly
  2. 2.Department of Mechanics and AeronauticsUniversity of Rome “La Sapienza”RomeItaly

Personalised recommendations