On the Design of A Self-Balanced Quadruped Walking Machine with 10-bar Leg Mechanisms

• Main Authors: Chih-Yung Huang, 黃智勇
• Other Authors: Hong-Sen Yan
• Format: Others
• Language: en_US
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/12577757122990727291

碩士 === 國立成功大學 === 機械工程學系碩博士班 === 94 === 　　A self-balanced quadruped walking machine with leg mechanisms of 10-bar linkage is designed by a systematic approach. At first, an existing leg mechanism of 10-bar linkage is selected as the tentative design, and the dimensional synthesis is performed to obtain the desired foot trajectory by the optimization technique of ALM. Next, the time ratio between the support phase and the transfer phase is adjusted by a two-speed control method to increase the time period of support phase. Then, in order to make sure that there are always at least three legs on the ground for the wave gait to enhance the stability of locomotion, the foot point of each leg at a specific time is placed on the specific position upon the foot trajectory. The kinematic analysis, force analysis, simulation, and animation are carried out to evaluate the characteristics of the designed walking machine. The kinematic analysis reveals that after optimum design, the designed leg mechanism has a good stability for striding. The force analysis shows that this walking machine does not run into the configuration of dead center position with the mechanical advantage of zero. However, the mechanical advantage suddenly drops down while the walking machine changes the transferring leg during the locomotion. From the simulation and animation, we know that there is no interference between the links of the leg mechanism and that the foot point positions of each leg are at the expected positions during the locomotion. Finally, a prototype of the designed quadruped walking machine is constructed and it is proven that this design is practical and feasible.