PhD Thesis Poster
1
LARM : Laboratorio di Robotica e Meccatronica http://webuser.unicas.it/weblarm/larmindex.htm TESI DI DOTTORATO IN INGEGNERIA MECCANICA DESIGN AND PERFORMANCE OF CASSINO BIPED LOCOMOTOR WITH TRIPOD PARALLEL MECHANISMS Relatore Prof. Marco Ceccarelli Correlatore Prof. Giuseppe Carbone Candidato Mingfeng Wang Data 16 Marzo 2016 1. Background and Motivation 2. Design Proposal and Modeling 3. Performance and Characteristics Worksapce Analysis (a) (b) Figure 6. Optimized workspace of leg mechanism: (a) without and (b) with U-joints angle constraints Stiffness Analysis (a) (b) Figure 7. Computed stiffness matrix index in a reference plane for: (a) minimum eigenvalues; (b) maximum eigenvalues Dynamic Simulation and Results 4. Prototype and Experimental Validation Figure 2. A musculoskeletal system of human leg Thigh Knee Crus Hip Region Leg Region Foot Region Figure 4. Kinematic scheme of Cassino Biped Loco Hip Region (Gear Unit) Leg Region (3-DOF TPM) Waist Foot Figure 3. A scheme for muscles and bones acting on the foot 0 s 60 s 30 s Figure 12. Straight Walking with 3.5 kg Payload Figure 5. CAD model of Cassino Biped Locomo Hip Region: 2-DOF Rotation (Turning) Leg Region: 3-DOF Translation (3D Movement) Foot Region: 2-DOF Rotation (Adaptability) 0 10 20 30 40 50 60 0 2 4 6 8 10 12 14 16 18 20 Tim e[S] C ontactForce[N ] LeftFoot RightFoot 0 10 20 30 40 50 60 0 1 2 3 4 5 Tim e[S] Power[W ] 0 10 20 30 40 50 60 -0.15 -0.1 -0.05 0 0.05 0.1 0.15 Tim e[S] A cceleration-LeftFoot[m /s 2 ] X-axis Y-axis Z-axis Figure 13. Measured contact forces between feet and Figure 14. Measured power consumption Figure 15. Measured linear acceleration of left Figure 11. Prototype of Cassino Biped Locomotor Low cost and Easy operation Low consumption and High payload Smooth Motion Single Support Phase Figure 9. Computed contact force Figure 10. Computed linear acceleration of left foot Why Biped Locomotors? Mobility (walking, obstacle overcoming, ascending/descending stairs) Acceptability (locomotion style) Why Parallel Leg Mechanisms? Biological inspiration from human leg (musculoskeletal system in leg region) Most biped locomotors with serial architecture (ASIMO, HPR, HUBO, Atlas series, etc.) Parallel architecture with better performances (dynamic behaviour, accuracy, ratio of payload to own weight) Potentiality with parallel architecture NOT fully investigated (ONLY WL-16 series) Why 3-DOF Parallel Leg Mechanism? Achievable back-to-front, lateral, and up- to-down motions Simpler structure and kinematics Larger workspace and convenient control ASIMO WL-16RV Figure 1. ASIMO and WL-16RV
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Transcript of PhD Thesis Poster
LARM : Laboratorio di Robotica e Meccatronica http://webuser.unicas.it/weblarm/larmindex.htm
TESI DI DOTTORATO IN INGEGNERIA MECCANICA
DESIGN AND PERFORMANCE OF CASSINO BIPED LOCOMOTOR WITH TRIPOD PARALLEL MECHANISMS
Relatore
Prof. Marco Ceccarelli
Correlatore
Prof. Giuseppe Carbone
Candidato
Mingfeng Wang
Data16 Marzo 2016
1. Background and Motivation 2. Design Proposal and Modeling
3. Performance and Characteristics Worksapce Analysis
(a) (b) Figure 6. Optimized workspace of leg mechanism: (a) without and (b) with U-joints angle constraints
Stiffness Analysis
(a) (b) Figure 7. Computed stiffness matrix index in a reference plane for:
(a) minimum eigenvalues; (b) maximum eigenvalues
Dynamic Simulation and Results
Figure 8. Straight walking operation
4. Prototype and Experimental Validation
Figure 2. A musculoskeletal system of human leg
Thigh
Knee
Crus
Hip Region
Leg Region
FootRegion
Figure 4. Kinematic scheme of Cassino Biped Locomotor
Hip Region(Gear Unit)
Leg Region(3-DOF TPM)
Waist
Foot
Figure 3. A scheme for muscles and bones acting on the foot
0 s
60 s
30 s
Figure 12. Straight Walking with 3.5 kg Payload
Figure 5. CAD model of Cassino Biped Locomotor
Hip Region: 2-DOF Rotation (Turning)
Leg Region: 3-DOF Translation (3D Movement)
Foot Region: 2-DOF Rotation (Adaptability)
0 10 20 30 40 50 600
2
4
6
8
10
12
14
16
18
20
Time [S]
Con
tact
For
ce [N
]
Left FootRight Foot
0 10 20 30 40 50 600
1
2
3
4
5
Time [S]
Pow
er [W
]
0 10 20 30 40 50 60-0.15
-0.1
-0.05
0
0.05
0.1
0.15
Time [S]
Acc
eler
atio
n-Le
ft Fo
ot[m
/s2 ]
X-axisY-axisZ-axis
Figure 13. Measured contact forces between feet and ground
Figure 14. Measured power consumption
Figure 15. Measured linear acceleration of left foot
Figure 11. Prototype of Cassino Biped Locomotor
Low cost and Easy operation Low consumption and High payload Smooth Motion
Single Support Phase
Figure 9. Computed contact force
Figure 10. Computed linear acceleration of left foot
Why Biped Locomotors? Mobility (walking, obstacle overcoming,
ascending/descending stairs)
Acceptability (locomotion style)
Why Parallel Leg Mechanisms? Biological inspiration from human leg (musculoskeletal system in leg region)
Most biped locomotors with serial architecture (ASIMO, HPR, HUBO, Atlas series, etc.)
Parallel architecture with better performances (dynamic behaviour, accuracy, ratio of payload to own weight)
Potentiality with parallel architecture NOT fully investigated (ONLY WL-16 series)
Why 3-DOF Parallel Leg Mechanism? Achievable back-to-front, lateral, and up-to-down motions Simpler structure and kinematics Larger workspace and convenient control
ASIMO WL-16RV
Figure 1. ASIMO and WL-16RV
