Optimal Inverse Models for Bi-Mobile Mechanisms of Walking Robot Legs

摘要

The paper brings some theoretical and practical contributions for the optimal design of bi-mobile mechanical systems. The mechanisms with two degrees of mobility are used for mechanical systems such as robot-arms or legs of walking robots, which ensure for the extremity of their effectors any trajectory in a suitable domain. Two theoretical aspects are developed: a structural design method for bimobile planar mechanisms based on their inverse and direct structural modelling and the design of two new passive modular groups with zero degree of mobility obtained from Baranov trusses and applied for the optimal structural design of such mechanisms. The bi-mobile mechanisms firstly presented in the paper are solutions designed by their optimal inverse structural modelling.