Mechanism Optimization of A New Integrated Leg for Legged Robots

This technical report presents the development and optimization of an integrated leg mechanism for legged robots, addressing challenges related to stability in extreme operational environments. The report begins with an overview of the significance of leg mechanisms in load-bearing and lightweight design, emphasizing their role in enhancing the performance of hydraulic-driven legged robots. It outlines the methods used for geometric analysis and quasi-static force balance equations, leading to the establishment of an optimization model that aims to minimize peak forces on hydraulic cylinders. The report details the kinematic and dynamic analyses conducted to support the optimization process, and it describes the design variables and constraints involved in the optimization model. Additionally, the effectiveness of the proposed mechanism is illustrated through a case study and experimental validation, confirming improvements in load-bearing capacity and operational efficiency. The report concludes with a summary of findings and implications for future research in hydraulic-driven robotic systems.