TY - GEN
T1 - Synthesis of Path Generation for Closed-Chain Legged Walking Mechanism Based on Multi-objective Optimization
AU - He, Yi
AU - Xu, Honghai
AU - Liu, Xueao
AU - Wu, Hongyu
AU - Ding, Jianzhong
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.
PY - 2025
Y1 - 2025
N2 - The closed-chain legged walking mechanism is characterized by high stiffness, strong load-bearing capacity, high driving efficiency, and simple control, which has attracted extensive attention. To further enrich the design ideas of such mechanisms, taking the four-bar mechanism as an example, a synthesis method for path generation based on multi-objective optimization is proposed. The kinematic constraint equations of the four-bar mechanism are established to obtain the motion trajectory of the end effector. Based on the performance requirements of the walking mechanism, the motion trajectory's length and height are defined, which are set as the optimization objective. The coordinates of the joints of the mechanism are selected as design variables, the optimization mathematical model is established, and a multi-objective optimization algorithm is applied to do the optimization. At last, a multi-legged closed-chain legged robot was determined based on the proposed method. The robot is driven by two motors and can achieve the motion functions, such as walking, turning, and obstacle avoidance, which can verify the effectiveness of the method.
AB - The closed-chain legged walking mechanism is characterized by high stiffness, strong load-bearing capacity, high driving efficiency, and simple control, which has attracted extensive attention. To further enrich the design ideas of such mechanisms, taking the four-bar mechanism as an example, a synthesis method for path generation based on multi-objective optimization is proposed. The kinematic constraint equations of the four-bar mechanism are established to obtain the motion trajectory of the end effector. Based on the performance requirements of the walking mechanism, the motion trajectory's length and height are defined, which are set as the optimization objective. The coordinates of the joints of the mechanism are selected as design variables, the optimization mathematical model is established, and a multi-objective optimization algorithm is applied to do the optimization. At last, a multi-legged closed-chain legged robot was determined based on the proposed method. The robot is driven by two motors and can achieve the motion functions, such as walking, turning, and obstacle avoidance, which can verify the effectiveness of the method.
KW - Closed-chain legged robot
KW - Dimensional synthesis
KW - Multi-objective optimization
KW - Path generation
KW - Walking mechanism
UR - https://www.scopus.com/pages/publications/105005932647
U2 - 10.1007/978-981-96-1464-6_31
DO - 10.1007/978-981-96-1464-6_31
M3 - 会议稿件
AN - SCOPUS:105005932647
SN - 9789819614639
T3 - Lecture Notes in Mechanical Engineering
SP - 487
EP - 500
BT - Advances in Mechanism and Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2024
A2 - Chen, Yan
A2 - Liu, Haitao
A2 - Sun, Tao
A2 - Liu, Lujiang
A2 - Li, Ming
A2 - Liu, Xinjun
PB - Springer Science and Business Media Deutschland GmbH
T2 - 24th IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2024
Y2 - 12 August 2024 through 14 August 2024
ER -