Research & Development Of Four-legged Walking Machine

Four-legged walking machine is one kind of mechanism which can imitation the horse walking through original assembling of the multi-bar mechanism. The machine is designed by the theory of bionic mechanism, and can stride the hindrance ,which is different from common roller vehicle; the research about the machine establishes the basis for more complicated walking machine.In this paper, on the side of bionic design, the skeleton of the horse, gait ,the track of foot, the speciality of compensating center of gravity are analyzed and summarized. Through comparing the integrative performance of four-bar, six-bar, eight-bar mechanism ,the final scheme is confirmed. Depend on the Vector loop method ,establishing the mathematic equation of the multi-bar mechanism of the leg, educing the calculated formula of the mechanism's angular displacement, angular velocity and angular acceleration. By means of MATLAB, calculating and simulating the mechanism, roundly analyzing the principle of the mechanism's gait, obtaining the order of four legs which is touching the ground. On the basis of quiet force analysis, establishing a mathematical model of quiet force analysis about the whole walking machine, educing the calculated formula of the machine that is in the supporting quantum and the spaning quantum, and presenting JFI. In the environment of Pro/ENGINEER Wildfire , sculping for all bars of the machine on 3-dimension,and Through the Motion module of Pro/MECHANICA which is integrated in Pro/E, acquiring virtual simulation of the mechanism and analyzing it; making the JFI as the optimal object and obtaining a group of sizes ,the performance of transmission force is improved. According to the process of development of the item, the paper analyses and studies several aspects which include chipboard model, cartoon simulation, scheme argumentation, design and manufacture, installation and running, re-design, presenting some corresponding methods of the problem which meet in the process.Through the testify of installation and running,The production of the paper have promethean and special application foreground.