Design of Single Degree-of-Freedom Biped Robotic Legs Mechanism

Abstract

Automation is playing a vital role in our life; it makes life easier. The development of robots is the biggest example in the automation world to create more and more models to help. These robots help us to work in unfavourable areas for human beings. These robots are developed with artificial intelligence. It can work in different types of areas underwater, high radiation zones etc. The design of these robots is quite complicated, it requires so many drives. The high degree of freedom increases the mathematical calculation and a complication for the manufacturing aspect. The idea of a reduction in the degree of freedom will help to decrease the complex control strategy, heavy mathematical computation, high running cost and heavy structure etc.

A major part of the robot working is dependent on the end effector and its base (leg). Thus, to reduce the complication in the designing of the leg mechanism, providing a simpler mechanism with a single degree of freedom, it reduces the difficulties in the manufacturing. To design the mechanism categorizing it into two parts as femur and fibula like the human being, which comprises a four-bar mechanism such that it follows the coupler curve like the human foot trajectory to ensure the smooth motion. Synthesizing the mechanism and creating its 3D CAD model to analyse and perform the simulation of the mechanism. Performing the kinematic analysis for the mechanism to ensure the trajectory of the foot, carrying out the flexible and rigid modelling to ensure various parameters for the design aspect. It is purposed to arrive at the desired walking trajectory and synchronizing the motion between both the legs.