06-02-2015, 02:29 AM
sir,
i need all the details about the kinematic walker,your old project report
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six leg kinematic moving machine theory
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sir,
i need all the details about the kinematic walker,your old project report
09-03-2017, 04:23 PM
The four-bar link is the closed loop kinematic link, perform a wide variety of movements with a few simple parts. This project discusses the design and manufacture of a mechanism of this type (four bar mechanism). In this project the six-legged kinematic movement works on the Grashof principle which states that the sum of the length of the shortest and longest links must be less than or equal to some of the other two links. However, this condition is necessary but not sufficient. The mechanism that satisfies this condition will fall into the crank-rocker mechanism, double crank mechanism and double rocker mechanism. A frame, connecting rod, crank and a lever constitute to obtain the required movement. In this project we try mainly to show the application of a simple mechanism of four bars.
Generally the mechanisms of walking are developed imitating the natures as the movement of the insects. Nature inspired researchers and new innovative ideas come in mind but sometimes they are simple and effective, sometimes uncomfortable and critical. One of the first walking machines was developed in 1870 by the Russian mathematician Chebyshev. This walking machine had four legs arranged in pairs. The machines with legs have been used for at least a hundred years and are superior to the wheels. The locomotion with legs must be mechanically superior to the locomotive with wheels or located on a variety of ground conditions and certainly superior for crossing obstacles. US Army research reports that about half of the land surface is inaccessible to wheeled vehicles, while this terrain is mostly exploited by animals with legs. Robots with wheels are the simplest and cheapest robots are also very good to move, but not on almost all types of terrain. There are different types of walking robots with legs. They are divided into groups according to the number of legs they have. The bipeds have two legs, quadrupeds four, six hexapods and octopods have eight legs. Bipeds "are dynamically stable, but statically unstable, such robots are more difficult to balance, and dynamic equilibrium can only be achieved while walking. Hexapods are six-legged robots, on the contrary, they have the advantages of being statically stable. During the march they can move three legs at a time, thus leaving three other legs always on the ground forming a triangle.
Generally the mechanisms of walking are developed imitating the natures as the movement of the insects. Nature inspired researchers and new innovative ideas come in mind but sometimes they are simple and effective, sometimes uncomfortable and critical. One of the first walking machines was developed in 1870 by the Russian mathematician Chebyshev. This walking machine had four legs arranged in pairs. The machines with legs have been used for at least a hundred years and are superior to the wheels. The locomotion with legs must be mechanically superior to the locomotive with wheels or located on a variety of ground conditions and certainly superior for crossing obstacles. US Army research reports that about half of the land surface is inaccessible to wheeled vehicles, while this terrain is mostly exploited by animals with legs. Robots with wheels are the simplest and cheapest robots are also very good to move, but not on almost all types of terrain. There are different types of walking robots with legs. They are divided into groups according to the number of legs they have. The bipeds have two legs, quadrupeds four, six hexapods and octopods have eight legs. Bipeds "are dynamically stable, but statically unstable, such robots are more difficult to balance, and dynamic equilibrium can only be achieved while walking. Hexapods are six-legged robots, on the contrary, they have the advantages of being statically stable. During the march they can move three legs at a time, thus leaving three other legs always on the ground forming a triangle.
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