Brief
The walking mechanism depends on crank shaft and two links connected together with two sliding pivots.
This connection with a certain dimensions can easily convert the rotation motion in crank shaft to reciprocating movement to the link which is connected directly with crank shaft, then the movements transfer to the leg making a straight line motion path as shown.
By using two configurations of these linkages we can get a simple walking mechanism.
Conceptual Model
As shown in the figure, the model of walking mechanism depends on the rotation motion of crank shaft then the movements transfer to the foot through the linkage with (Fixed dimensions, and Variable dimensions).
Fixed Dimensions: the dimensions of the linkages and mechanism itself which does not change during movement [L, K, R, C, and y]
Variable Dimensions: which are change during movement [X, L2, a, b, L1, d, Theta, and Beta]
Mechanism Calculations
let's say the Input of mechanism is the angle of crank shaft (Theta), the output is (L2, and X) because the L2, and X are main parameters to draw the path.
Now it is become easy to use Microsoft Excel to draw the path profile of foot to be sure that is move in straight line.
Hey this is great! Looks like it may be the solution for the walking of my giant dinosaur robot I'm working on! The link for the 3D model doesn't seem to work though. Could you please upload it somewhere else or email it to me if I send an eTransfer? My email is MarshallVisions@Outlook.com Thanks!