SYNTHESIS OF LEG-MECHANISMS OF BIPED WALKING MACHINES (PART I, SYNTHESIS OF ANKLE-PATH-GENERATOR).

Abstract

The present paper and the companion paper describe kinematic synthesis of planar link mechanisms with only revolute pairs to develop leg-mechanisms of biped machines which walk straight on flat grounds. The leg mechanism is divided into two submechanisms to facilitate kinematic synthesis. The paper discusses type selections of the ankle-path-generator, conditions and procedures of dimensional syntheses and the characteristics of the synthesized mechanisms, resulting in three practical ankle-path-generators.