This type of walking mechanism based on 4-bars mechanism drive by DC motor.
The mechanism can lift the whole body of robot through the rotation motion of DC motor, and the lifting distance depends on the length of the mechanism bars.
** The mechanism make reciprocating movement of the whole body.
Conceptual Design
High important to take in consideration that the center of mass of the whole body is covered by one leg of the mechanism, where the robot must be stable standing with one leg.
At some moments the leg leave the ground and the whole body of robot stands on one leg, so the center of mass supposed to be in the center of the robot's leg as shown in the figure.
4 - Bars Mechanism
The walking mechanism based on 4 bars linkage mechanism.
As shown in the figure, the mechanism can lift the robot with 12.72mm from the ground.
Spur gears is important to move the 2 links synchronized to avoid any shift or delay between two links.
DC Motor Torque:
Easily to calculate the torque required to lift the robot
Mechanism Trace Profile
As shown in the animation, the trace profile is a half-circle, and the whole body of the robot moves to reciprocate depending on the movement of the mechanism.
References
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