Structure and kinematic synthesis of crank-and-slider walking mechanism in order to ensure the prescribed path of supporting foot motion

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Lviv Polytechnic National University

The prospects of usage of walking drives in mobile robotic systems are overviewed. The walking machines may be effectively used when it is necessary to carry out various transporting and technological operations along the roads with light soils and low bearing strength (transportation of heavyweight structures for industrial enterprises) or along the territories which belong to nonrenewal categories (peat (turf) extracting, self-propelled field systems of irrigation). The preferences of cyclic (lever) walking mechanisms are analyzed. Cyclic biped walking movers used in drives of mobile robotic systems are distinguished by the structure and control simplicity (one degree of freedom).

The structure of crank-and-slider mechanism is synthesized in order to ensure the prescribed motion path of the supporting foot. The problems of kinematics of crank-and-slider mechanism are considered and the equations of the supporting foot motion are deduced. The kinematic parameters of four-bar crank-and-slider walking mechanism are accepted as the subject of research. The process of motion of the supporting foot of the walking mechanism is accepted as the object of research. The main aim of the investigation consists in carrying out structure and kinematics synthesis of mentioned mechanism with further derivation of analytical dependencies for calculating kinematic parameters of the supporting foot motion. The geometrical parameters of the walking mechanism are determined taking into account the advanced values of step length and foot raising height. As a result of carried out structure analysis it is ascertained that the mechanism consists of two structural groups: of the first class and of the second class second order second type.

The obtained results of kinematic analysis of the supporting foot motion are considered and the prospects of further investigations on the presented subject are substantiated. In particular, the goal function (11), which may be used for further optimization of structural parameters of the mechanism, is considered and the use of applied software for solving optimization problem is proposed. The optimization problem consists in evaluating such geometric parameters of the walking mechanism, which allow the motion of the supporting foot in accordance with the prescribed (specified) path.

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