Parallel Crank-Slider Mechanism for Joint of Walking Robots : 2nd Report, Statics and Dynamical Analysis of Mechanism

Abstract

In the 1st report, the parallel crank-slider mechanism for a joint of walking robots proposed by Emura was introduced, and its direct and inverse-kinematics problems were described. In this 2nd report, the statics and dynamics of the mechanism are described. From the analysis of the mechanism, it was proved that the singularity does not exist in its work space. Moreover, it was shown that the generalized moment of inertia of the mechanism is not smaller than the inertia of the robot due to its high reduction ratio. In the case of this mechanism, the generalized inertia tensor can be simply expressed using the Jacobian matrix.