Abstract
This paper presents an approach to design and optimize the planar walking mechanism that enables fast locomotion along with minimal actuation. The design of walking mechanism is based on the symmetrical foot-point path to get the required stability for walking on an even terrain and simplify its motion control. A systematic methodology is used for the concept generation of walking mechanisms to achieve these objectives. A brief study of a wide range of walking mechanisms developed in the past is used to develop Computer-aided Design (CAD) model of a single Degree of freedom (DOF) planar walking mechanism. An analytical method for dimensional synthesis based on path generation is used to get dimensions of linkages. Additionally, geometric constraints of motion are used to anticipate free variables to solve for unknown terms in the equation. However, the inclusion of the control system required for simulation in the CAD software is not feasible. Construction stages are shown to aid the development of the simulation model. This is accomplished by interfacing Solidworks and MATLAB/Simulink environments. This paper, in short, is an effort to develop simulation-based methods for optimizing planar mechanisms.
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Acknowledgements
I would like to thank Prof. Jatin Dave for guiding me in this research work. Also, I would like to thank the Mechanical department of Nirma University for allowing me to use CAD facility and for providing financial, as well as moral support to complete the research work.
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Kavathia, D., Dave, J. (2021). Kinematic Modeling of Walking Mechanism. In: Sen, D., Mohan, S., Ananthasuresh, G. (eds) Mechanism and Machine Science. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-15-4477-4_16
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DOI: https://doi.org/10.1007/978-981-15-4477-4_16
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