Six Link Mechanisms for the Legs of Walking Machines
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.
KeywordsLink Mechanism Supporting Point Supporting Phase Straight Section Trajectory Point
Unable to display preview. Download preview PDF.
- 1.Ibraev S.M., Synthesis of Walling Vehicles Leg Mechanisms with Decoupled Foot-Point Motion, In: Tenth World Congress on Theory of Machines and Mechanisms, 1999, Oulu, Finland, Vol. 3, pp. 1188–1195.Google Scholar
- 2.Bessonov A. P., Umnov N. V., Application of Mechanisms with Translational Motion of Moving Elements for Self-propelled Machines. In: VIII World Congress on Theory of Machines and Mechanisms, 1991, Prague, Czechoslovakia, Vol. 6, pp. 1610–1631.Google Scholar
- 3.Levitsky N.I., Theory of Machines and Mechanisms, Nauka Press, 1979, 576 p. (in Russian)Google Scholar
- 4.Hain K., Applied Kinematics, 1%7 MacGrawHill, N.Y.Google Scholar
- 5.Sobol I.M., Statnikov RB., Vybor oprtmal’nyh parametrov v 7adachah so mnogimi kriterijami, Moscow, Nauka Press, 1981, 107 p. (in Russian)Google Scholar