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Review and synthesis of a walking machine (Robot) leg mechanism

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dc.contributor.author Terefe, Tesfaye Olana
dc.contributor.author Lemu, Hirpa G.
dc.contributor.author K/Mariam, Addisu
dc.date.accessioned 2023-11-03T11:48:58Z
dc.date.available 2023-11-03T11:48:58Z
dc.date.issued 2019-07-30
dc.identifier.uri https://repository.ju.edu.et//handle/123456789/8758
dc.description.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. en_US
dc.language.iso en_US en_US
dc.title Review and synthesis of a walking machine (Robot) leg mechanism en_US
dc.type Article en_US

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