抄録
This paper proposes the application of an elastically constrained underactuated parallel mechanism as a leg mechanism to achieve soft landing of its foot to adapt uneven or unknown terrain. A planar 6-bar one-loop mechanism with 3DOF and two rotary actuators which links are constrained with torsional coil springs is assumed as a simple example of a leg mechanism. Inverse and forward kinetostatics analyses in cases of free leg and ground contact of its foot are achieved by taking account of virtual torque or ground reaction force. Contour maps of elastic energy, reaction force and driving torque with respect input angles are obtained and used for landing control strategy. Simulation results shows that the mechanism can achieve complete landing on inclined ground.
