Abstract
Locomotion prototypes movement shows some lacks in the contact between the links and surfaces, slow speeds, wrong trajectories and variations in the height of the gravity center, that is why the purpose of the present document is to design a locomotion mechanism to minimize this problem. The purposed design in this investigation get inspired by the walker machine “plantigrade” and it is based on a Hoeken‘s mechanism modification, since it shows several movement advantages. The amendment executed is oriented towards the reduction of links which are part of the plantigrade machine, minimize the friction between the links and reduce the journey time for a stablished distance equal to 220 cm, getting parameters and equations for the design of the proposed mechanism, that owns a numeric value to the driver link equal to 2 cm, rocker, coupler and its extension to 2.5 cm and frame to 2.1 cm. To obtain a straight-line path, a gyroscope MPU 6050 is used to reduce lateral deviations. Finally, a journey time equal to 3.721 s is succeed, a reach of up till 4.5 cm, a maximum speed equal to 308 cm/s, a maximum acceleration of 281 cm/\(s^{2}\), the average deviation to the left equal to 5.312 cm and an average variation of the center of gravity height equal to 0.6425 cm.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Gorrostieta E, Vargas E (2002) Diseñando un robot caminante de seis patas. In: Segundo Congreso Nacional de Robótica. Asociación Mexicana de Robótica e Instituto Tecnológico de Toluca, pp 181–186
Demirel M, Carbone G, Ceccarelli M, Kiper G (2018) Design and simulation of a novel hybrid leg mechanism for walking machines. In: New advances in mechanism and machine science. Springer, Heidelberg, pp 283–290
Todd DJ (2013) Walking machines: an introduction to legged robots. Springer, Heidelberg
Nuñez AV, Encalada P, Garcia CA, Guilcapi JR, Garcia MV (2019) Web-platform for developing man-machine interfaces based on OPC UA. In: 2019 IEEE fourth ecuador technical chapters meeting (ETCM), pp 1–6
Caiza G, Torres FI, Garcia MV (2021) Identification of patterns in the involvement of novice software developers in software testing processes. In: 2021 IEEE international conference on artificial intelligence and computer applications (ICAICA), pp 378–382
Hong M, Yun-xia L (2018) Walking mechanism and gait design of a novel compound quadruped robot. In: 2018 3rd international conference on robotics and automation engineering (ICRAE). IEEE, pp 10–13
Adrian R, García G (2016) Prototipo virtual de un robot móvil multi-terreno para aplicaciones de búsqueda y rescate. ResearchGate
Chiliquinga S, Manzano S, Córdova P, Garcia MV (2020) An approach of low-cost software-defined network (SDN) based internet of things, pp 70–74. https://doi.org/10.1109/Incodtrin51881.2020.00025
Caiza G, Chiliquinga S, Manzano S, Garcia MV (2020) Software-defined network (SDN) based internet of things within the context of low-cost automation, vol 1, pp 587–591. https://doi.org/10.1109/INDIN45582.2020.9442180
Desai SG, Annigeri AR, TimmanaGouda A (2019) Analysis of a new single degree-of-freedom eight link leg mechanism for walking machine. Mech Mach Theory 140:747–764
Saab W, Ben-Tzvi P (2016) Design and analysis of a robotic modular leg mechanism. In: International design engineering technical conferences and computers and information in engineering conference, vol 50152. American Society of Mechanical Engineers, p V05AT07A062
Lozada-Martinez E, Naranjo JE, Garcia CA, Soria DM, Toscano OR, Garcia MV (2019) SCRUM and extreme programming agile model approach for virtual training environment design, pp 1–5. https://doi.org/10.1109/ETCM48019.2019.9014882
Varela-Aldás J, Miranda-Quintana O, Guevara C, Castillo F, Palacios-Navarro G (2020) Educational robot using lego mindstorms and mobile device. In: Advances and applications in computer science, electronics and industrial engineering. Springer, Cham, pp 71–82
Kavathia D, Dave J (2021) Kinematic modeling of walking mechanism. In: Mechanism and machine science. Springer, Heidelberg, pp 229–237
Villa Tello K (2021) Selection of optimal lodging site in the city of Baños, Ecuador. In: Advances and applications in computer science, electronics and industrial engineering. Springer, Singapore, pp 53–65
Robert LN (2008) Design of Machinery. Mc Graw Hill, New York
Hoeltgebaum T, da Silva ES, Barreto RLP, Maletz ER, Morlin FV, Carboni AP, et al (2021) Walking mechanisms-a state of the art survey and new developments opportunities. In: International symposium on multibody systems and mechatronics. Springer, Heidelberg, pp 35–43
Zielinska T (2004) Development of walking machines; historical perspective. In: International symposium on history of machines and mechanisms. Springer, Heidelberg, pp 357–370
Onieva J (2019) Diseñn y construcción de un mecanismo andante. Universidad Politécnica de Madrid, Madrid. http://oa.upm.es/54412/1/TFG_JORGE_GONZALEZ_ONIEVA_JOHANSSON.pdf
Cuadrado Mazón KC (2018) Análisis cinemático y cinético del mecanismo Theo Jansen. Diseño y construcción de juguete prototipo [B.S. thesis], Quito, 2018
Artobolevsky II (1975) Mechanisms in modern engineering design. Mir Publishers 1:454
Çıklaçandır S, Karabiber Ö, Kalafat Y, Can F (2017) Design a robot insect inspired by the camouflage characteristics of the leaf insect
Jansen T The Legsystem. https://www.youtube.com/watch?v=FFS-2axFo1Y&t=53s&ab_channel=theojansen
Manickavelan K, Singh B, Sellappan N (2014) Design, fabrication and analysis of four bar walking machine based on Chebyshev’s parallel motion mechanism. Eur Int J Sci Technol 3(8):56–73
Zielinska T, Heng J (2002) Development of a walking machine: mechanical design and control problems. Mechatronics 12(5):737–754
Sun J, Zhao J (2019) An adaptive walking robot with reconfigurable mechanisms using shape morphing joints. IEEE Rob Autom Lett 4(2):724–731
Vujošević V, Mumović M, Tomović A, Tomović R (2018) Robot based on walking Jansen mechanism. In: IOP Conference series: materials science and engineering, vol. 393. IOP Publishing, p 012109
Komoda K, Wagatsuma H (2017) Energy-efficacy comparisons and multibody dynamics analyses of legged robots with different closed-loop mechanisms. Multibody Syst Dyn 40(2):123–153
MohdIsharudden F, Mohamed H, Rafaai ZM, Ho TYW, Kamarudin M (2020) Design and prototyping of a motorized legged robot with Klann linkage mechanism. Int J Emerg Trends Eng Res 8(5):1941–1945
Bustamante Téllez J (2016) Diseño de mecanismo de locomoción andante con cambio de dirección
Wikimedia Commons: Plantigrade machine - Drawing.svg - Wikimedia Commons. https://commons.wikimedia.org/wiki/File:Tchebyshevs$_$plantigrade$_$machine$_$-$_$Drawing.svg
Acknowledgment
This work was financed by Universidad Tecnica de Ambato (UTA) and their Research and Development Department (DIDE) under project CONIN-P-0167-2017.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Herrera, V., Ilvis, D., Morales, L., Garcia, M. (2022). Optimization of Hoeken Mechanism for Walking Prototypes. In: Garcia, M.V., Fernández-Peña, F., Gordón-Gallegos, C. (eds) Advances and Applications in Computer Science, Electronics, and Industrial Engineering. CSEI 2021. Lecture Notes in Networks and Systems, vol 433. Springer, Cham. https://doi.org/10.1007/978-3-030-97719-1_5
Download citation
DOI: https://doi.org/10.1007/978-3-030-97719-1_5
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-97718-4
Online ISBN: 978-3-030-97719-1
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)