Walking Machine Lab Report

1586 Words7 Pages
CHAPTER:-1 INTRODUTION The study of our project gives the introduction of a kinematic walking machine with some different kind of leg structure or we can say that with some new leg structure. Walking machines are one kind of robots. These robots are mainly used for the motion and translocation of the legs which is quiet easy and simple. The structure design of this kind of robots puts a great contribution to the environment. Walking stability of this robot on complex and nasty non-structure environment is superb. Here, the human activities are need to be replaced by these kind of walking machines. This design shows a valuable way in walking machines and walking mechanism. There are broad applications…show more content…
Beale analyzed the problem of optimum synthesis of the four bar function generator a practical case of the Ackermann steering linkage is considered. The reduced number of design parameters of these symmetric four bar linkage allowed inspecting the design space of various types of objective functions through 3D representations, and their properties suggestively highlighted. 4] Rafael Aviles presented an improved approach to the optimum dimensional synthesis of planer linkages based on an elastic strain energy error function. This method is suitable for any kind of kinematic synthesis for any planer linkages. 5] Joseph M. Porta presented legged robots which are well suited to walk on difficult terrains at the expense of requiring complex control systems to walk even on any surface. It should be assumed that walking on abrupt terrain is the typical situation for a legged robot. It is a fundamental of design, for it represents the creation of new hardware to meet particular needs in motion, displacement, velocity or acceleration singly or in combination, combinations like displacement-velocity, velocity-acceleration, and…show more content…
A three revolute (3R) Kinematic chain has been chosen for each leg mechanism in order to mimic the leg structure of an insect. Denavit-Hartenberg (D-H) conventions are used to perform kinematic analysis of the six legged robot. Insects are chosen as models because their nervous system are simpler than other animal species. Also, complex behaviors can be attributed to just a few neurons and the pathway between sensory input and motor output is relatively shorter. Insects ' walking behavior and neural architecture are used to improve robot locomotion. Conversely, biologist can use hexapod robots for testing different hypothec. Insect gaits are usually obtained by two approaches: the centralized and the decentralized control architectures. Centralized controllers directly specify transitions of all legs, whereas in decentralized architectures, six nodes (legs) are connected in a parallel network; gaits arise by the interaction between neighboring legs uses. Biologically inspired hexapod robots largely depend on the insect species used as a model. The spider and the stick insect are the two most commonly used insect species; both have been ethologically and neuro-physiologically extensively studied. At present no complete neuro-system is known, therefore, models usually combine different insect models, including those of other

More about Walking Machine Lab Report

Open Document