Analysis of Structure and Kinematics of Four-Bar Crank-Rocker Walking Mechanism
Journal Title: Український журнал із машинобудування і матеріалознавства - Year 2015, Vol 1, Issue 2
Abstract
Problems and prospects of using the walking mode for producing motion of robotic systems are considered. Advantages and spheres of the use of mobile robotic systems equipped with walking movers are substantiated. Preferences of cyclic (lever) walking mechanisms are analyzed. The kinematic parameters of four-bar crank-rocker walking mechanism, constructed on the basis of Chebyshov-Umnov mechanism, are accepted as the subject of research. The process of motion of the supporting foot of the walking mechanism is accepted as the object of research. The main aim of the investigation consists in carrying out structure and kinematics analysis of the mentioned mechanism with further derivation of analytical dependencies for calculating kinematic parameters of the supporting foot motion. The special features of the structure of four-bar walking mechanism and theoretical foot loci (paths) are considered. The form of the most reasonable path for further research is established. As a result of carried out structure analysis, it is ascertained that the mechanism consists of two structural groups: that of the first class and that of the second class second order first type. As a result of kinematics analysis, the analytical expressions for calculation of coordinates of the supporting foot hinge of the walking mechanism depending on geometric parameters of the mechanism and the angle of the crank rotation are deduced. The prospects of further investigation under the themes of the paper are analyzed. In particular, the goal function, which may be used for further optimization of structural parameters of the mechanism, is considered and the use of applied software for solving optimization problem is suggested. The optimization problem consists in evaluating such geometric parameters of the walking mechanism which allow the motion of the supporting foot in accordance with the prescribed (specified) path.
Authors and Affiliations
Vitaliy Korendiy
Keywords
Related Articles
- EP ID EP200065
- DOI -
- Views 110
- Downloads 0
Fundamentals of Creation of New Devices for Speed Change Management
The article deals with problem of speed change management in engineering, i.e., hoisting, building, road and land reclamation machines, cars and tractors, machine tools and other equipment. The review of the methods and...
The Structure, Mechanical and Electrophysical Properties of Monocrystalline Silicon under Influence of Constant Magnetic Field
The monocrystalline silicon is one of the most important materials in the view of the fact that it is used in contemporary electronics. The issues concerning silicon processing methods up to now attract a lot of attentio...
Nonlinear Analysis in Synthesis of the Resonant Vibro-Impact Systems
The paper considers differential equation of the vibro-impact resonance system with an asymmetric piecewise linear elastic characteristic. The time-instant of switching of elastic characteristic is determined on the basi...
Determination of Stresses and Ultimate Loads for Composite Plates with Elastic Inclusions
In the article, the algorithm for determination of stresses in anisotropic plates with elastic inclusions of another anisotropic material was developed on the basis of complex singular integral equations. The solving of...
Ways of Improvement of Technological Process of Copper Wire Rod Production
Copper is a unique chemical element which is used since ancient times due to its universal chemical properties. By means of the method of continuous founding, hundreds of items of rod-like billets of different cross-sect...