Abstract
A walking machine is equipped with leg mechanisms so that it can move across uneven ground. In this study, feasible leg mechanisms for walking machines are generated through the Creative Mechanism Design Methodology, including the steps of existing designs analysis, generalization, specialization, and particularization. One design of a linkage mechanism with eight links and ten joints is selected at the first step. Then, according to the concepts of generalization and specialization, one of the kinematic generalized chains with the same number of links and joints is chosen, and five feasible specialized chains are generated by assigning the frame, thigh link, calf link, and the crank, sequentially. Moreover, by applying feature encoding, two of the feasible designs are obtained by removing the results that cannot fit the motion characteristics, and the corresponding mechanism sketches are presented through particularization. One of the innovation designs is selected, and the dimensional synthesis is made through the techniques in geometric constraint programming. Finally, the motion characteristics are determined to verify its feasibility through theorical determination and computer simulation. The analysis results can be used to explore kinetics and mechanism advantage.
Synthesis of Leg-Mechanisms of Biped Walking Machines : Part I, Synthesis of Ankle-Path-Generator