Abstract
Legged off-road vehicles exhibit better mobility while moving on rough terrain. Development of legged mechanisms represents a challenging problem and has attracted significant attention from both artists and engineers. In this paper, we present the design of a single-degree-of-freedom legged walking mechanism using the mechanism design theory and optimization to imitate a well-known kinetic sculpture, a Wind Beast. The optimization is set up to: i) minimize the energy input and ii) maximize the stride length. The optimization is based on the dynamic force analysis. A prototype of the optimized walking mechanism with 6 legs was built to demonstrate its smooth motion. The success in designing a legged mechanism capable of imitating the well-known kinetic sculpture using the engineering design theories is a small step bridging the gap between art and engineering.
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