Dynamic Study of A Four Bar Linkage Walking Machine Leg
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The Ohio State University / OhioLINK
1982
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| Online Access: | http://rave.ohiolink.edu/etdc/view?acc_num=osu1380886218 |
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ndltd-OhioLink-oai-etd.ohiolink.edu-osu13808862182021-08-03T06:19:53Z Dynamic Study of A Four Bar Linkage Walking Machine Leg Brown , T. Frank, Jr. Mechanical Engineering Walking is a well patterned behavior where the kinetic energy of the leg varies dramatically during a cycle. Most walking machines built in the past have converted large quantities of this kinetic energy to heat by braking the leg at the ends of the stride and return phases. An alternative approach for a four-bar linkage, planar, robot leg is to let the leg act as a pendulum. The mass distribution of the leg is such that the leg stores the kinetic energy at the end of the stride as gravitational potential energy which is reused to power the leg through the return phase. As part of the research reported in this thesis, an interactive computersimulation program was developed to study the effects of mass distribution on the pendulation characteristics of a four-bar linkage, planar leg. A six legged, "unpowered", walking machine was also designed and built for validation of the simulation program results. The maximum error between predicted and measured position measurements of the leg during the return phase is less than 10% of the fullscale leg motion. Measurements of power input to the machine indicate a decrease in energy consumption over both the OSU Monopod and OSU Hexapod walking vehicles. 1982 English text The Ohio State University / OhioLINK http://rave.ohiolink.edu/etdc/view?acc_num=osu1380886218 http://rave.ohiolink.edu/etdc/view?acc_num=osu1380886218 unrestricted This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws. |
| collection |
NDLTD |
| language |
English |
| sources |
NDLTD |
| topic |
Mechanical Engineering |
| spellingShingle |
Mechanical Engineering Brown , T. Frank, Jr. Dynamic Study of A Four Bar Linkage Walking Machine Leg |
| author |
Brown , T. Frank, Jr. |
| author_facet |
Brown , T. Frank, Jr. |
| author_sort |
Brown , T. Frank, Jr. |
| title |
Dynamic Study of A Four Bar Linkage Walking Machine Leg |
| title_short |
Dynamic Study of A Four Bar Linkage Walking Machine Leg |
| title_full |
Dynamic Study of A Four Bar Linkage Walking Machine Leg |
| title_fullStr |
Dynamic Study of A Four Bar Linkage Walking Machine Leg |
| title_full_unstemmed |
Dynamic Study of A Four Bar Linkage Walking Machine Leg |
| title_sort |
dynamic study of a four bar linkage walking machine leg |
| publisher |
The Ohio State University / OhioLINK |
| publishDate |
1982 |
| url |
http://rave.ohiolink.edu/etdc/view?acc_num=osu1380886218 |
| work_keys_str_mv |
AT browntfrankjr dynamicstudyofafourbarlinkagewalkingmachineleg |
| _version_ |
1719434778495680512 |