Structural and kinematic synthesis of the 1-Dof eight-bar walking mechanism with revolute kinematic pairs
Date
2017-10-19
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
Lviv Politechnic Publishing House
Abstract
Problem statement. The use of existing and the most widespread drives (wheeled
and caterpillar one) is sometimes limited by complicated operational conditions while moving on
rough terrain. The mentioned drives require a relatively flat surface to be operated effectively. A
rocky or a hilly terrain imposes the demand of the use of alternative types of drives, in particular,
walking ones. Purpose. In this paper, there will be proposed and analysed one of the possible
structures of the walking mechanism for mobile robotic system to be used on rough terrain.
Methodology. While carrying out the investigations, the structural and kinematic synthesis of the
eight-bar hinge-lever walking mechanism has been performed using the well-known methods of the
Theory of Machines and Mechanisms, in particular, the method of closed vector loops. In order to
conduct experimental investigations and simulation of the mechanism motion, the applied software
SolidWorks and MapleSim has been used. Findings (results). The structure and geometrical
parameters of the eight-bar walking mechanism have been synthesized with the aim to ensure the
required trajectory and kinematic characteristics of the supporting foot motion. Originality (novelty).
The analytical dependencies describing the trajectory of each hinge of the analysed walking
mechanism have been derived and the kinematic optimization synthesis problem has been solved.
This allowed to substantiate of the mechanism’s geometrical parameters and to analyse its kinematic
characteristics. Practical value. The proposed structure of the walking mechanism can be effectively
used in various mobile robotic systems and in transporting and technological machines in order to
ensure the possibility of their use on rough terrain where there is no ability to use wheeled and
caterpillar drives. Scopes of further investigations. While carrying out further research, it is
necessary to analyse the influence of the weight coefficients on the solution of the optimization
problem, as well as to take into account the necessity of changing the step length and the foot lifting
height during the process of walking according to the surface obstacles sizes.
Description
Keywords
walking mechanism, structural analysis, kinematic analysis, synthesis, optimization, objective function, geometrical parameters, trajectory, speed, acceleration
Citation
Korendiy V. Structural and kinematic synthesis of the 1-Dof eight-bar walking mechanism with revolute kinematic pairs / Vitaliy Korendiy // Ukrainian Journal of Mechanical Engineering and Materials Science. — Lviv : Lviv Politechnic Publishing House, 2017. — Vol 3. — No 2. — P. 88–102.