TY - GEN
T1 - Design and evaluation of a novel flexible bio-robotic foot/ankle based on parallel kinematic mechanism
AU - Liang, Qiaokang
AU - Zhang, Dan
AU - Song, Quanjun
AU - Ge, Yunjian
PY - 2010
Y1 - 2010
N2 - In this paper, we address the design and evaluation of a novel flexible bio-robotic foot/ankle based on parallel mechanism with three identical UPS prismatic-actuated limbs and a central UR passive limb. After discussing the advantages of using the PKM, the kinematics problem of the PKM are investigated. In particular, to measure the action force at the foot when the bio-robot maintains balance or moves, the cross shaft of the U-joint in the passive limb is modified and intended to be used as an elastic element of the force sensor. Then the development of the integrated force sensor is introduced in detail. The design is helpful for both reliable architecture design and performance improvement of the bio-robot foot/ankle.
AB - In this paper, we address the design and evaluation of a novel flexible bio-robotic foot/ankle based on parallel mechanism with three identical UPS prismatic-actuated limbs and a central UR passive limb. After discussing the advantages of using the PKM, the kinematics problem of the PKM are investigated. In particular, to measure the action force at the foot when the bio-robot maintains balance or moves, the cross shaft of the U-joint in the passive limb is modified and intended to be used as an elastic element of the force sensor. Then the development of the integrated force sensor is introduced in detail. The design is helpful for both reliable architecture design and performance improvement of the bio-robot foot/ankle.
KW - Bio-robot
KW - Integrated F/T sensor
KW - Machine design
KW - Parallel kinematic mechanism
UR - http://www.scopus.com/inward/record.url?scp=78649306837&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2010.5589165
DO - 10.1109/ICMA.2010.5589165
M3 - Conference article published in proceeding or book
AN - SCOPUS:78649306837
SN - 9781424451418
T3 - 2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010
SP - 1548
EP - 1552
BT - 2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010
T2 - 2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010
Y2 - 4 August 2010 through 7 August 2010
ER -