The Research Of Multi-legged Walking Machanism

The foot walk have good performance and ground adaptability compared to the wheeledand crawler moves, so you can better adapt to the complex unstructured environments, theresearch got the attention of many scholars and research at home and abroad. Under thedevelopment trend of intelligent, Now the studied most of the walking mechanism in thestructure and control is more complex, mainly of these are in the laboratory study, in the truesense of the walking machine is not much in the weight of the actual working conditions.How to use less complex mechanical structure and control system to achieve the walkingmechanism of walking system function, and improve their climbing obstacle capability, is theconcern of this study.The study designed a kind of leg mechanism similar to mammals walk uprightinstitutions, such institutions for a single degree of freedom closed-loop type walkingmechanism, It is having a large vertical bearing capacity, the characteristics of compactstructure, strong spanning ability. On the basis of this kind leg mechanism design out thewalking machine have a simple structure and system. Make the institution has a straightforward function, make the walking machine and some preliminary tests. Paper mainly in thefollowing aspects of the work:(1) Analysis the advantages and disadvantages of the traditional institutions, combinedwith the movement of the pole structures and designed a simple structure, and the walkingmechanism can easy to control. Analysis of the defects in the mechanism proposed twoimproved on this basis, through the Pro/E motion the two institutions and simulation todetermine the final plan.(2) Through analysis the different legs institutional performance to determine theinstitution of six feet, analyze several typical gait determining mechanism "tripod gait"walking, the gait stability analysis, planning straight gait and fixed-point turning gait.(3) Through the distribution of agencies legs and transfer program planning, design thestructure of a single motor drive with six walking machine, three-dimensional solid modelingand institutions; analysis of static stability of the institution, in ADAMS, dynamicscalculations institutions dynamics simulation of the actual deployment process by thesimulation results demonstrate the feasibility of the agency’s motion. (4) To test the walking machine designed prototype entity processing and assembly, respectively,in the no-load and load conditions to institutional testing, validation entities to meet thedesign requirements, is expected to be able to complete the design of the walking action; andthe test data obtained from the walking machine design theory comparison of the data,analyze the reasons for the differences which provide reference and support for after-agencyresearch and improvement.