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.
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© 1994 Springer-Verlag/Wien
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Pennestri, E., Di Benedetto, A., Belfiore, N.P. (1994). Design of a Planetary Leg Mechanism Using Chebyshev’s Optimization Method. In: Kopacek, P. (eds) Robotics in Alpe-Adria Region. Schriftenreihe der Wissenschaftlichen Landesakademie für Niederösterreich. Springer, Vienna. https://doi.org/10.1007/978-3-7091-9346-4_28
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DOI: https://doi.org/10.1007/978-3-7091-9346-4_28
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-82545-7
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