https://mechanicaldesign101.com/wp-content/uploads/2020/06/maxresdefault-2.jpg 720 1280 delta https://mechanicaldesign101.com/wp-content/uploads/2016/07/mechanical-design-101LOGOf.png delta2020-06-17 14:19:492022-09-17 09:25:54Four-Legged Mechanical Walkers: Spring 2020 Highlights
Four-Legged Mechanical Walkers: Spring 2020 Highlights
The design of these four-legged walkers relies on Curvature theory to find a flat-sided coupler curve of a four-bar linkage to be used for the foot trajectory. This coupler curve is repositioned using a skew pantograph. The result is a six-bar leg mechanism.
Stable gait for these walkers can be achieved by adding side-to-side foot extensions to broaden the support polygon during walking.
Please see this video showing walkers designed by my students to be a rabbit, two dogs, a bear, a rhinoceros, a dinosaur, and a centaur, as well as a legged platform, a legged syringe and the Star Wars All-Terrain Attack Transport, known as AT-AT.