1985 Volume 28 Issue 237 Pages 537-543
The present paper and the companion paper describe kinematic syntheses of planar link mechanisms with only revolute pairs to develop leg-mechanisms of biped machines which walk straight on flat grounds. It has been proposed to divide the leg-mechanism into two sub-mechanisms in order to make a kinematic synthesis possible ; one is an ankle-path-generator which generates a required trajectory of the ankle relative to the upper body, and the other is a foot-driving mechanism which generates a require angular motion of the foot about the ankle joint. The 1st paper discusses type selections of the ankle-path-generator, conditions and procedures of dimensional syntheses and the characteristics of the synthesized mechanisms, resulting in three practical ankle-path-generators.
JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing
JSME International Journal Series B Fluids and Thermal Engineering
JSME International Journal Series A Solid Mechanics and Material Engineering
JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
JSME international journal. Ser. 3, Vibration, control engineering, engineering for industry
JSME international journal. Ser. A, Mechanics and material engineering
JSME international journal. Ser. 1, Solid mechanics, strength of materials