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A New Family of 4-DOF Parallel Mechanisms (1T-3R and 2T-2R) With Two Platforms and Its Application to a Footpad Device

[+] Author Affiliations
Jungwon Yoon, Jeha Ryu

Gwangju Institute of Science and Technology, Gwangju, Korea

Paper No. DETC2004-57100, pp. 257-265; 9 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


This paper proposes a new family of four degrees-of-freedom (dof) parallel mechanisms with two platforms and its application to a footpad device that can simulate the spatial motions of the human foot. The new mechanism consists of front and rear platforms, and three limbs. Two limbs with 6-dof serial joints (P -S-P-P) are attached to each platform and are perpendicular to the base plate, while the middle limb (P e -R e -R or P e -P e -R) is attached to the revolute joint that connects the front and rear platforms. The middle limb is driven by the 2-dof driving mechanism that is equivalent active serial prismatic and revolute joints (P e -R e ), or prismatic and prismatic joints (P e -R e ) with two base-fixed prismatic actuators. Therefore, two new 4-dof parallel mechanisms with two platforms can generate pitch motion of each platform, and roll and heave motions (1T-3R) or pitch motion of each platform and two translational motions (2T-2R) at both platforms. Kinematic analyses of the 1T-3R mechanism were performed, including inverse and forward kinematics, and velocity analysis. Based on the 1T-3R mechanism, a footpad device was designed to generate foot trajectories for natural walking. Finally, simulations of the foot trajectories in the normal gait cycle were performed using the proposed footpad device.

Copyright © 2004 by ASME



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