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The peculiarities of mechanism synthesizing for walking machine drives

Authors: Umnov N.V. Published: 05.08.2015
Published in issue: #2(23)/1996  

DOI:

 
Category: Design  
Keywords:

Straight-line linkage mechanisms possess many advantages as the legs of walking machines. Four-bar linkage legs, however, do not yield proper accuracy, because it is impossible to connect a prolonged support fase and "externality" of the straight-line part off trajectory. The use of multi-bar linkage has been limited, because a simple way of synthesizing the linkage had not been available and direct trial-and-error procedures are too long and cumbersome. The design synthesis procedure for preliminary selection of the mechanism parameters is developed. A goal of the method is selection of a support part on the leg trajectory support point. Simultaneously two necessary conditions - sufficient prolongation and "externality" of that trajectory part are satisfied, having the best approximation accuracy. For decreasing of the mechanism sample the Sobol’s points are used.