After a brief review of structural chemes of planetary leg mechanisms, an application of Chebyshev’s optimization method to the kinematic design of a planetary leg mechanism is proposed. The graphs herein presented allow a quick proportioning of the mechanism for a given structural error or step length. The main advantage of this approach with respect to the other design methods is the avoidance of noncircular gears for the minimization of structural error.
Design of a Planetary Leg Mechanism using Chebyshev's Optimization Method (abridged) / E., Pennestrì; DI BENEDETTO, Augusto; Belfiore, Nicola Pio. - STAMPA. - (1993), pp. 143-147. (Intervento presentato al convegno 2nd Int. Workshop on Robotics in Alpe-Adria Region tenutosi a Krems nel June 13-15, 1993).
Design of a Planetary Leg Mechanism using Chebyshev's Optimization Method (abridged)
DI BENEDETTO, Augusto;BELFIORE, Nicola Pio
1993
Abstract
After a brief review of structural chemes of planetary leg mechanisms, an application of Chebyshev’s optimization method to the kinematic design of a planetary leg mechanism is proposed. The graphs herein presented allow a quick proportioning of the mechanism for a given structural error or step length. The main advantage of this approach with respect to the other design methods is the avoidance of noncircular gears for the minimization of structural error.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
