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Article

Buffering Performance Analysis of an Ostrich-like Leg Based on a Seven-Link Parallel Mechanism

by
Daming Nie
1,
Ruilong Du
1,*,
Jiangren Tian
1,
Pu Zhang
1,
Fangyan Shen
1,*,
Jason Gu
2 and
Yili Fu
3
1
Interdisciplinary Innovation Research Institute, Zhejiang Lab, Hangzhou 310000, China
2
Department of Electrical and Computer Engineering, Dalhousie University, Halifax, NS B3H 4R2, Canada
3
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150000, China
*
Authors to whom correspondence should be addressed.
Machines 2022, 10(5), 306; https://doi.org/10.3390/machines10050306
Submission received: 23 March 2022 / Revised: 19 April 2022 / Accepted: 20 April 2022 / Published: 25 April 2022
(This article belongs to the Collection Machines, Mechanisms and Robots: Theory and Applications)
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Abstract

As one of the fastest running animals on land, the ostrich’s excellent athletic ability benefits from its unique leg structure. Based on the idea of bionics, this paper intends to obtain a kind of robotic leg structure with a similar buffering capacity to that of the ostrich. For this purpose, the structural characteristics of a seven-link parallel mechanism are analyzed firstly, having some specific features similar to ostrich legs, such as the center of mass (COM) located at the root of the leg, a large folding/unfolding ratio, and so on. Then, the kinematic model of the bionic leg is established, and the energy storage of the flexible parts of the leg is investigated. Finally, an impact experiment of the structure onto the ground is carried out to verify the accuracy of the established kinematic model. This paper systematically reveals the nonlinear law of the elasticity of an ostrich-like leg and provides the buffering performance characteristics of the leg in the process of hitting the ground, based on its elastic properties by the kinematic model and the experiment.
Keywords: biomimetic robotics; parallel mechanism; buffering; leaf spring biomimetic robotics; parallel mechanism; buffering; leaf spring

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MDPI and ACS Style

Nie, D.; Du, R.; Tian, J.; Zhang, P.; Shen, F.; Gu, J.; Fu, Y. Buffering Performance Analysis of an Ostrich-like Leg Based on a Seven-Link Parallel Mechanism. Machines 2022, 10, 306. https://doi.org/10.3390/machines10050306

AMA Style

Nie D, Du R, Tian J, Zhang P, Shen F, Gu J, Fu Y. Buffering Performance Analysis of an Ostrich-like Leg Based on a Seven-Link Parallel Mechanism. Machines. 2022; 10(5):306. https://doi.org/10.3390/machines10050306

Chicago/Turabian Style

Nie, Daming, Ruilong Du, Jiangren Tian, Pu Zhang, Fangyan Shen, Jason Gu, and Yili Fu. 2022. "Buffering Performance Analysis of an Ostrich-like Leg Based on a Seven-Link Parallel Mechanism" Machines 10, no. 5: 306. https://doi.org/10.3390/machines10050306

APA Style

Nie, D., Du, R., Tian, J., Zhang, P., Shen, F., Gu, J., & Fu, Y. (2022). Buffering Performance Analysis of an Ostrich-like Leg Based on a Seven-Link Parallel Mechanism. Machines, 10(5), 306. https://doi.org/10.3390/machines10050306

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