Multiobjective Optimization of a Leg Mechanism with Various Spring Configurations for Force Reduction

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dc.contributor.authorShieh, W-B.en_US
dc.contributor.authorAzarm, Shapouren_US
dc.contributor.authorTsai, L-W.en_US
dc.contributor.authorTits, A.L.en_US
dc.contributor.departmentISRen_US
dc.date.accessioned2007-05-23T10:01:54Z
dc.date.available2007-05-23T10:01:54Z
dc.date.issued1996en_US
dc.description.abstractIn this paper, the design of a two degree-of-freedom leg mechanism is accomplished by a two-stage optimization process. In the first stage, leg dimensions are optimized with respect to three design objectives: minimize (i) leg size, (ii) vertical actuating force, and (iii) peak crank torque for an entire walking cycle. Following the optimization of leg dimensions, in the second stage, spring elements with various placement configurations are considered for further reduction of the actuating force and crank torque. Several tradeoff solutions are obtained and a comparison between variously spring configurations is made. It is shown that the inclusion of spring elements can significantly reduce the actuating force and crank torque.en_US
dc.format.extent819207 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/5771
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1996-52en_US
dc.subjectkinematicsen_US
dc.subjectoptimizationen_US
dc.subjectroboticsen_US
dc.subjectIntelligent Control Systemsen_US
dc.titleMultiobjective Optimization of a Leg Mechanism with Various Spring Configurations for Force Reductionen_US
dc.typeTechnical Reporten_US

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