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Romansy 13 pp 347-354 | Cite as

Six Link Mechanisms for the Legs of Walking Machines

  • A. P. Bessonov
  • N. V. Umnov
  • V. V. Korenovsky
  • E. E. Silvestrov
  • S. V. Khoborkov
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)

Abstract

When designing walking robots one should separate the walking robots proper from the robots mounted on a walking chassis. It is clear that a task for the first ones is to achieve a maximum cross-country capability and therefore to get a maximum adaptation, maximum profile and soil cross-country capability, manoeuvrability etc. In order to deliver an object to the given point “at any rate”. These are transport robots with very high performance. They should possess a developed flexible system of control, system of sensors but mechanical part — a propeller should not limit their potentialities. Moreover, mechanical characteristics of such robots are calculated on extreme conditions and their potentialities exceed those with which robot encounter normally in its functioning. Besides, when analysing robot characteristics the maximum values of the obstacles being overcome appear on the foreground meanwhile such characteristics as velocity, load-carrying capacity, effectiveness deviate on the background and are not very important for the achievement of the goal.

Keywords

Link Mechanism Supporting Point Supporting Phase Straight Section Trajectory Point 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • A. P. Bessonov
    • 1
  • N. V. Umnov
    • 1
  • V. V. Korenovsky
    • 1
  • E. E. Silvestrov
    • 1
  • S. V. Khoborkov
    • 1
  1. 1.Mechanical Engineering Research InstituteMoscowRussia

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