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SLEGS robot: development and design of a novel flexible and self-reconfigurable robot leg

SLEGS robot: development and design of a novel flexible and self-reconfigurable robot leg PurposeThis paper aims to explain the design of a novel leg mechanism for SLEGS robot. SLEGS means both “S”-shaped for the legged robot and “O”-shaped for the wheeled robot. It is a reconfigurable/transformable mobile robot.Design/methodology/approachFirst, a novel robot leg is designed by inspiration from previous studies. Second, the SLEGS robot’s leg is modeled using 3D computer model, and kinematics analysis performed on the leg mechanism. Finally, the prototype of the novel leg was developed for the SLEGS robot.FindingsThe robot leg mechanism has both flexible and self-reconfigurable modular features. All legs automatically take the form of both a rotating wheel and a walking leg with a self-reconfigurable modular feature.Originality/valueThe modeled leg is original in terms of its novel locomotion mechanism in both the walking and wheeled configurations. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Industrial Robot: An International Journal Emerald Publishing

SLEGS robot: development and design of a novel flexible and self-reconfigurable robot leg

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References (24)

Publisher
Emerald Publishing
Copyright
Copyright © Emerald Group Publishing Limited
ISSN
0143-991X
DOI
10.1108/IR-03-2016-0109
Publisher site
See Article on Publisher Site

Abstract

PurposeThis paper aims to explain the design of a novel leg mechanism for SLEGS robot. SLEGS means both “S”-shaped for the legged robot and “O”-shaped for the wheeled robot. It is a reconfigurable/transformable mobile robot.Design/methodology/approachFirst, a novel robot leg is designed by inspiration from previous studies. Second, the SLEGS robot’s leg is modeled using 3D computer model, and kinematics analysis performed on the leg mechanism. Finally, the prototype of the novel leg was developed for the SLEGS robot.FindingsThe robot leg mechanism has both flexible and self-reconfigurable modular features. All legs automatically take the form of both a rotating wheel and a walking leg with a self-reconfigurable modular feature.Originality/valueThe modeled leg is original in terms of its novel locomotion mechanism in both the walking and wheeled configurations.

Journal

Industrial Robot: An International JournalEmerald Publishing

Published: May 15, 2017

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