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http://dx.doi.org/10.5302/J.ICROS.2014.14.0067

Optimal Design of Klann-linkage based Walking Mechanism for Amphibious Locomotion on Water and Ground  

Kim, Hyun-Gyu (School of Mechanical Engineering, Yeungnam University)
Jung, Min-Suck (School of Mechanical Engineering, Yeungnam University)
Shin, Jae-Kyun (School of Mechanical Engineering, Yeungnam University)
Seo, TaeWon (School of Mechanical Engineering, Yeungnam University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.9, 2014 , pp. 936-941 More about this Journal
Abstract
Walking mechanisms are very important for legged robots to ensure their stable locomotion. In this research, Klann-linkage is suggested as a walking mechanism for a water-running robot and is optimized using level average analysis. The structure of the Klann-linkage is introduced first and design variables for the Klann-linkage are identified considering the kinematic task of the walking mechanism. Next, the design problem is formulated as a path generation optimization problem. Specifically, the desired path for the foot-pad is defined and the objective function is defined as the structural error between the desired and the generated paths. A process for solving the optimization problem is suggested utilizing the sensitivity analysis of the design variables. As a result, optimized lengths of Klann-linkage are obtained and the optimum trajectory is obtained. It is found that the optimized trajectory improves the cost function by about 62% from the initial one. It is expected that the results from this research can be used as a good example for designing legged robots.
Keywords
water-running robot; Klann-mechanism; level average analysis; optimal design; orthogonal array;
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Times Cited By KSCI : 4  (Citation Analysis)
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