2021年1月25日 · In this paper, three various design concepts are carried out via coupling of two units which are four-bar linkages, slider-crank mechanisms, and a cam mechanism and a pantograph linkage. The geometrical syntheses of these mechanisms have been analyzed, and based on them, analytical and numerical methods have been adopted to ensure the ...

A leg mechanism (walking mechanism) is a mechanical system designed to provide a propulsive force by intermittent frictional contact with the ground. This is in contrast with wheels or continuous tracks which are intended to maintain continuous frictional contact with the ground.

walking mechanisms for the purpose of energetically efficient and stable locomotion over moderately variable terrain. A linkage is “crank-based” when the circular movement of

2019年1月1日 · This paper describes: a novel design of the leg drive mechanism, hardware architecture and the leg control method for a walking machine being developed to study various walking gait...

2024年10月3日 · The mechanism features a series of crank-rocker and scaling mechanisms to achieve an “inverted D” walking gait trajectory, reducing the degrees of freedom and enhancing stability. An auxiliary mechanism improves its load-bearing capacity and motion stability, while a unique sole structure increases the contact area with the ground ...

Slider-crank mechanism is a four-bar chain with a slider replacing an infinitely long output link, Fig. 3 (b). It is connected by three pin joints and one sliding joint. Kinematic synthesis...

1.3 CRANK BASED WALKING MECHANISM: When the circular movement of one point in a linkage translates to movement elsewhere in the linkage, it is said to be "crank-based," which implies the circularly moving element of the linkage can be coupled to a crank and the mechanism's motion can be readily operated.

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.

crank mechanism is proposed to create a mechanism that can be used in a legged walking machine to walk on a rough terrain. As mentioned earlier, the simplest and most common...

The slider crank mechanism based robot arm is designed as a special design of planar centric or eccentric slider crank mechanism. Figure 1 illustrates side view drawing of the robot...