Mechanical Design and Analysis of a Novel Three-Legged, Compact, Lightweight, Omnidirectional, Serial–Parallel Robot with Compliant Agile Legs

摘要

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.