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- W2291719124 abstract "The legged type robot generally requires high torques for stable walking and running. However, the robot's electric motor driven actuators usually have a low payload to weight ratio. To overcome this problem and use actuators' power more efficiently, we apply a parallel mechanism to a robot's leg design. A parallel mechanism can distribute a payload over actuators and reduce the actuation torque, and thus enhance the robot's walking stability. The process of optimal design of 3 DOF parallel delta type leg is 1) definition of workspace and payload based on tasks, such as walking and climbing a stair, 2) derivation of inverse kinematics and equation of motion, 3) optimization of a robot leg's mechanism, and finally 4) feasibility of the 3 DOF Parallel Delta type Leg (3PDL) for a quadruped robot compared with the 3 DOF Serial type Leg (3SL). In this paper, it is shown that the optimal 3PDL has a strong tendency of greatly reducing the maximum actuation torque and enhancing the manipulability in the certain workspace." @default.
- W2291719124 created "2016-06-24" @default.
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- W2291719124 date "2015-12-01" @default.
- W2291719124 modified "2023-09-29" @default.
- W2291719124 title "The analysis of new 3 DOF parallel delta type leg for a quadruped robot to maximize actuation torque reduction" @default.
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- W2291719124 doi "https://doi.org/10.1109/robio.2015.7418901" @default.
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