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Mechanical Design and Analysis of a Novel Three-Legged, Compact, Lightweight, Omnidirectional, Serial–Parallel Robot with Compliant Agile Legs
| Content Provider | MDPI |
|---|---|
| Author | Feller, David Siemers, Christian |
| Copyright Year | 2022 |
| Description | In this work, the concept and mechanical design of a novel compact, lightweight, omnidirectional three-legged robot, featuring a hybrid serial–parallel topology including leg compliance is proposed. The proposal focusses deeply on the design aspects of the mechanical realisation of the robot based on its 3D-CAD assembly, while also discussing the results of multi-body simulations, exploring the characteristic properties of the mechanical system, regarding the locomotion feasibility of the robot model. Finally, a real-world prototype depicting a single robot leg is presented, which was built by highly leaning into a composite design, combining complex 3D-printed parts with stiff aluminium and polycarbonate parts, allowing for a mechanically dense and slim construction. Eventually, experiments on the prototype leg are demonstrated, showing the mechanical model operating in the real world. |
| Starting Page | 39 |
| e-ISSN | 22186581 |
| DOI | 10.3390/robotics11020039 |
| Journal | Robotics |
| Issue Number | 2 |
| Volume Number | 11 |
| Language | English |
| Publisher | MDPI |
| Publisher Date | 2022-03-24 |
| Access Restriction | Open |
| Subject Keyword | Robotics Legged Robot Locomotion Spherical Parallel Manipulator Multi-body Simulation 3d Printing Mechanical Design |
| Content Type | Text |
| Resource Type | Article |
