Summary
The existing methods of organizing the manoeuvring of walking machines with orthogonal (Cartesian) propelling agents do not permit in full measure the realization of the merits of propelling agents of these kinds: efficiency of the walking and simplicity in control. A readjustable guiding mechanism developed by Chebyshev in the form of a horizontal drive of orthogonal type of legs provides a new approach to the solution of the problem of manoeuvring. Necessary readjustments of the mechanism for obtaining segments of arcs of various curvatures and correct orientation of these arcs are fulfilled by the use of an additional mechanism such as a steering linkage. The possibility of using Watt mechanism as a vertical drive for orthogonal propelling agents is considered and also the example of combining the two kinds of mechanisms in one unit is considered in this paper.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Bessonov A P and Umnov N V (1983) Stabilization of the position of the body of walking machines. J. Mech. Mach. Theory, 18(4), 261–265.
Hirose S and Umetani Y (1978) Some Considerations on a Feasible Walking Mechanism as a Terrain Vehicle Proc. 3rd CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators Udine, Italy, pp 357–375
Kessis J J, Rambaut J P and Penné J (1981) Walking Robot Multi-level Architecture and Implementation Proc. 4th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Warsaw, Poland, pp 347–355
Pogrebnja A Ya (1975) Investigation of motion of six-legged vehicle Mashinovedenie (3) 34–36 (in Russian)
Waldron K J and Kinzel G L (1981) The Relationship between Actuator Geometry and Mechanical Efficiency in Robots Proc. 4th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Warsaw, Poland, pp 366–374
Orin D E and McGhee R B (1981) Dynamic Computer Simulation of Robotic Mechanisms Proc. 4th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Warsaw, Poland, pp 337–346
Bessonov A P and Umnov N V (1978) Features of Kinematics of Turn of Walking Vehicle Proc. 3rd CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Udine, Italy, pp 87–97
Artobolevsky II (1975) Mechanisms in Modern Engineering Design vol 1, no. 651, p432. Mir, Moscow
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1985 RoManSy and contributors
About this chapter
Cite this chapter
Balbarov, V.S., Bessonov, A.P., Umnov, N.V. (1985). Study of Propelling Agents Construction Features of Orthogonal Walking Robots by Using Plane Mechanisms. In: Morecki, A., Bianchi, G., Kȩdzior, K. (eds) Theory and Practice of Robots and Manipulators. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-9882-4_38
Download citation
DOI: https://doi.org/10.1007/978-1-4615-9882-4_38
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4615-9884-8
Online ISBN: 978-1-4615-9882-4
eBook Packages: Springer Book Archive