Design, Analysis and Fabrication of a Six-Legged Walking Machine

2005 ◽  
Author(s):  
Rakesh Sehgal ◽  
Ashutosh Tiwari ◽  
Vivek Sood
Keyword(s):  
Angular Velocity ◽  
Design Analysis ◽  
Chain Mechanism ◽  
Walking Machine ◽  
Acceleration Analysis

This paper presents the steps involved in the design, analysis and fabrication of a six-legged walking machine. The suggested machine uses the basic four bar chain mechanism and slotted lever type quick return mechanism with some modifications. The synthesis of the link lengths is based on Freudenstein’s (algebraic) three accuracy points. The velocity and acceleration analysis of oscillating links explains the effect of change in the crank’s angular velocity and acceleration on all other links. The suggested machine is capable of moving forward and backward, turning right and left and rotating around a point on the commands given.

Leg Lift During Non-Overconstrained Pseudo-Static Walking

1996 ◽  
Author(s):  
Chee K. Foo ◽  
Eugene F. Fichter ◽  
Becky L. Fichter
Keyword(s):  
Position Control ◽  
The Body ◽  
Degree Of Freedom ◽  
Walking Machine

Abstract A non-overconstrained pseudo-static walking machine has 1 leg joint under position control for every degree-of-freedom of the body. When 1 joint is position controlled on each of 6 legs, leg lift during a step results in 1 unregulated degree-of-freedom of the body. A second joint in one of the 5 legs that maintain contact with the ground must be switched to active position control at the same time that a foot is lifted. In theory any passively controlled joint in the 5 supporting legs may be chosen. However the requirement that no leg be in tension and practical limits on torques available from joint actuators severely restrict choice of both additional joint to actively position control and possible body positions where legs can be lifted.

Walking Machine Design Based on Certain Aspects of Insect Leg Design

1992 ◽  
Author(s):  
E. F. Fichter ◽  
D. R. Kerr
Keyword(s):  
Control System ◽  
Observational Data ◽  
The Body ◽  
Static Equilibrium ◽  
Machine Design ◽  
Ground Contact ◽  
Careful Attention ◽  
Equilibrium Equations ◽  
Walking Machine ◽  
Leg Design

Abstract A walking machine design originating from observations of insects is presented. The primary concept derived from insects is a leg used to apply force to the body without applying significant moments about the point of body attachment. This is accomplished with legs which have kinematic equivalents to ball-and-socket joints at body attachment and ground contact, with joints in the middle which only change distance between body and ground. Standing and walking with 6 legs of this design requires careful attention to static equilibrium equations but does not necessitate a control system which actively distributes forces to the legs. This paper considers necessary observational data, assumptions on which control is based, mathematical development for control and problems such as foot slip.

Optimal Synthesis and Analysis of a New Leg Mechanism: The Planetary Gear Leg

1992 ◽  
Author(s):  
Ning-Xin Chen ◽  
Shin-Ming Song
Keyword(s):  
Planetary Gear ◽  
Optimization Method ◽  
Maximum Deviation ◽  
Walking Machine ◽  
Straight Line ◽  
Force Moment ◽  
Good Energy ◽  
Line Trajectory ◽  
Leg Design ◽  
Straight Line Trajectory

Abstract The leg mechanism of a walking machine has a strong influence on the performance of the machine. A successful leg mechanism should be energy efficient, compact in size, strong and simple. In order to achieve good energy efficiency, a walking machine leg should be able to generate an exact or approximate straight line at the foot with only one driving actuator. This paper deals with the synthesis and analysis of a new leg mechanism — the planetary gear leg mechanism. Four types of planetary gear legs are studied. By the SUMT optimization method, a 20 inch tall leg is able to generate an approximate straight line trajectory with a maximum deviation of 0.12805 inches in a 20 inch stroke. The direct and inverse kinematics and velocities of the legs are analyzed. Also, the distribution of actuator force/moment during walking are studied. The results show that this leg design has great potential to be used as a practical walking machine leg.

Design of a Cockroach-like Running Robot for the 2004 SAE Walking Machine Challenge

2006 ◽  
pp. 311-318 ◽  
Author(s):  
Marc-André Lavoie ◽  
Alexis Lussier Desbiens ◽  
Marc-André Roux ◽  
Philippe Fauteux ◽  
Éric Lespérance
Keyword(s):  
Walking Machine

Harmonic Synthesis Design Methodology for Dynamic Spring Balancing

1996 ◽  
Vol 118 (4) ◽  
pp. 733-740 ◽  
Author(s):  
Eungsoo Shin ◽  
D. A. Streit
Keyword(s):  
Dynamic System ◽  
Initial Conditions ◽  
Phase 1 ◽  
System Optimization ◽  
Optimization Method ◽  
Optimization Techniques ◽  
System Response ◽  
Two Phase ◽  
Walking Machine ◽  
Synthesis Design

A new spring balancing technique, called a two-phase optimization method, is presented. Phase 1 uses harmonic synthesis to provide a system configuration which achieves an approximation to a desired dynamic system response. Phase 2 uses results of harmonic synthesis as initial conditions for dynamic system optimization. Optimization techniques compensate for nonlinearities in machine dynamics. Example applications to robot manipulators and to walking machine legs are presented and discussed.

Foot force distribution of walking machine with consideration of terrain properties

1992 ◽  
Vol 29 (4-5) ◽  
pp. 497-514 ◽  
Author(s):  
Chun Qi Zheng ◽  
Shin-Min Song ◽  
G.E.O. Widera
Keyword(s):  
Force Distribution ◽  
Walking Machine ◽  
Foot Force
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