Abstract
This paper presents a new single degree-of-freedom crank driven walking leg mechanism for walking machines and walking robots. The mechanism is planar Peaucellier-Lipkin type having eight links. The leg mechanisms geometry and its working are explained. Some of the different configurations of this leg mechanism are presented. Kinematic analysis of the leg mechanism is performed, behavior is discussed. Optimal design is also performed using Genetic Algorithm (GA) to determine optimum lengths of links. An experimental model of the leg mechanism was fabricated and tested to determine the practical accuracy. Using this mechanism an eight-legged walking machine was also built and tested. Comparison of the experimental results of the leg mechanism with the simulation and calculated results shows that they are in good agreement. The leg mechanism is compared with Jansen's and Klann's walking leg mechanisms.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
