Design and SAM analysis of reconfigurable four-legged mechanism using single degree of freedom

Abstract

A number examples of walking equipment integrated with heavy vehicle systems and robots have been conceived, measured and built in the last 25 years to realise a modern field of applications. Compared to wheeled machines, legged and walking machines show the advantage that they can act in highly unstructured terrain without streets or rails. Legged robots cross obstacles more easily and depend upon the environmental situations. In this paper, a proposed kinematic four legged model design is made by linkages using single degree of freedom (DOF), then the modelling and kinematic analysis of a reconfigurable four-legged walking mechanism driven by manual or a single actuator is performed using SAM analyser software. Four bar walking mechanism can be observed by different link length in path movements, velocity, and acceleration. In particular, a suitable model of the leg design and also kinematic analysis is analysed. One of the most important concepts of this research is desired simplicity of the four-legged walking mechanism.