Abstract:
A walking machine (robot) is a type of locomotion that operates
by means of legs and/or wheels on rough terrain or flat surface. The
performance of legged machines is greater than wheeled or tracked walking
machines on an unstructured terrain. These types of machines are used for
data collections in a variety of areas such as large agricultural sector,
dangerous and rescue areas for a human. The leg mechanism of a walking
machine has a different joint in which a number of motors are used to actuate
all degrees of freedom of the legs. In the synthesis of walking machine
reported in this article, the leg mechanism is developed using integration of
linkages to reduce the complexity of the design and it enables the robot to
walk on a rough terrain. The dimensional synthesis is carried out analytically
to develop a parametric equation and the geometry of the developed leg
mechanism is modelled. The mechanism used is found effective for rough
terrain areas because it is capable to walk on terrain of different amplitudes
due to surface roughness and aerodynamics.
