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Mechanical design of an energy efficient robotic leg for use on a multi-legged walking vehicle

Vohnout, Vincent J.
http://rave.ohiolink.edu/etdc/view?acc_num=osu1106769821

Abstract Details

1982, Master of Science, Ohio State University, Mechanical Engineering.
The failure to produce a usable walking vehicle from past efforts is identified as much a problem in machine design as controls. The planar, mammalian type leg is chosen as the general configuration best suited for an efficient walking vehicle. A four bar linkage solution to the kinematics of the problem is found and refined using interactive synthesis and analysis computer programs. A D.C. electric powered leg mechanism design, based on the kinetic study and scaled to the OSU Hexapod Vehicle is presented. Simplified, discrete mode, velocity feedback control is used to run the leg installed in a three wheeled test cart. Instantaneous power and velocity data from the "Monopod" system is time averaged and a complete electrical energy audit of the system is presented. Two methods are used to compare the relative energy consumption between the Monopod and Hexapod…
Kenneth Waldron (Advisor)
181 p.
Actuator; Leg Mechanism; Motor; Drive Crank

Recommended Citations

Citations

  • Vohnout, V. J. (1982). Mechanical design of an energy efficient robotic leg for use on a multi-legged walking vehicle [Master's thesis, Ohio State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=osu1106769821

    APA Style (7th edition)

  • Vohnout, Vincent. Mechanical design of an energy efficient robotic leg for use on a multi-legged walking vehicle. 1982. Ohio State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=osu1106769821.

    MLA Style (8th edition)

  • Vohnout, Vincent. "Mechanical design of an energy efficient robotic leg for use on a multi-legged walking vehicle." Master's thesis, Ohio State University, 1982. http://rave.ohiolink.edu/etdc/view?acc_num=osu1106769821

    Chicago Manual of Style (17th edition)

osu1106769821
923
© 1982, all rights reserved.
This open access ETD is published by The Ohio State University and OhioLINK.