A concept of walking mechanism driven by DC motor, the Mechanism structure based on crank mechanism then 4 parallel links connection to keep the feet horizontal all the time, so the mechanism will be stable at all positions of movements.
Crank Mechanism
Simple design of crank mechanism with radius (r) and connecting link (L), the sliding distance (2r) is the linear vertical distance when the crank move 180 degree at least.
which means that at one revolution of crank the slider moves 2 times upward and downward.
How to Find the Step Radius of Mechanism
Through the next figure, we can calculate the foot step of the mechanism by using the following fixed parameters
r | Crank radius |
K | Foot length |
S | Leg length |
R | Foot step radius |
in case of the previous figure position where the crank radius (r) in horizontal level.
Center of Mass
The mechanism is balanced during movement, the center of mass in the middle of the mechanism body to be inside the two forks of foot.
So, when the right leg leave the ground, the left leg can lift the weight of the mechanism under balance.
Download 3D Model
YouTube Video
Good Luck!!
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