(Lviv Polytechnic Publishing House, 2015) Korendiy, Vitaliy; Bushko, Oleksandr; Denderys, Nazar; Lviv Polytechnic National University
The expediency and areas of use of walking machines are substantiated. Three simplest diagrams of cyclic (lever) walking mechanisms (four-link, four-link with possibility of changing the position of the rocker arm rotation axis, six-link) are considered. Principal diagram of the lever mechanism of orientation of walking module with two cyclic movers is propounded and its operating features are analyzed.
