“Design Of Walking Mechanism With Straight And

Parallel Leg Motion”

A
PROJECT WORK

Submitted in partial fulfillment of the requirement for the award of

Degree of
BACHELOR OF ENGINEERING
In
MECHANICAL ENGINEERING
Submitted to

RAJIV GANDHI PROUDYOGIKI VISHWAVIDHYALAYA,

BHOPAL (M.P.)

Submitted by

ASHUTOSH VISHWAKARMA (0613ME131013)

DEEPESH RAJAK (0613ME131024)
DEEPESH VISHWAKARMA(0613ME131025)
MD. KASHIF MOBIN (0613ME131040)
NISHANT JAIN (0613ME131045)

Under The GuidanceOf

Prof. R.K. RAJAK

Assistant Professor, Department of
Mechanical Engineering

DEPARTMENT OF MECHANICAL ENGINEERING

GYAN SAGAR COLLEGE OF ENGINEERING SAGAR (M.P.)
MAY 2017

Design Of Walking Mechanism With Straight And Parallel Leg Motion Page I
 GYAN SAGAR COLLEGE OF ENGINEERING SAGAR (M.P.)
An Institution under the Govt. of M. P., Approved by All India Council for Technical Education,
New Delhi.Affiliated to Rajiv Gandhi Proudyogiki Vishwavidyalaya, Bhopal M.P. India.

CERTIFICATE

This is to certify that the work embodies in this project work entitled
“Design Of Walking Mechanism With Straight And Parallel Leg
Motion” being submitted by Ashutosh Vishwakarma, Deepesh Rajak,
Deepesh Vishwakarma, Md. Kashif Mobin and Nishant Jain.In partial
fulfillment of the requirement for the award of “BACHELOR OF
ENGINEERING” to Rajiv Gandhi Proudyogiki Vishwavidyalaya, Bhopal
(M.P) during the academic year 2017 is carried out by him under our/my
supervision and guidance in the “GYAN SAGAR COLLEGE OF
ENGINEERING SAGAR (M.P.)”

Guided & Approved by:

R.K. RAJAK & ABDUL KADIR

Assistant Professor, Department of
Mechanical Engineering

Forwarded by:

PROF. Abdul Kadir Director/Principal

ASST.PROF. & HOD
GSCE, Sagar
DEPT. OF M.E.
GSCE, Sagar

Design Of Walking Mechanism With Straight And Parallel Leg Motion Page II
 GYAN SAGAR COLLEGE OF ENGINEERING SAGAR (M.P.)
An Institution under the Govt. of M. P., Approved by All India Council for Technical Education, New Delhi
Affiliated to Rajiv Gandhi Proudyogiki Vishwavidyalaya, Bhopal M.P. India.

CERTIFICATE OF APPROVAL

The major project entitled “Design Of Walking Mechanism With Straight

And Parallel Leg Motion” being submitted by students Ashutosh
Vishwakarma(0613ME131013), Deepesh Rajak(0613ME131024),
Deepesh vishwakarma(0613ME131025), Md. Kashif
Mobin(0613ME131027) & Nishant Jain(0613ME131045), has been
examined by us and is hereby approved for the award of degree
“BACHELOR OF ENGINEERING”, for which it has been submitted. It is
understood that by this approval the undersigned do not necessarily endorse
or approve any statement made, opinion expressed or conclusion drawn
therein, but approve the major project only for the purpose for which it has
been submitted.

Internal Examiner External Examiner

Date: Date:

Design Of Walking Mechanism With Straight And Parallel Leg Motion Page III
 GYAN SAGAR COLLEGE OF ENGINEERING SAGAR (M.P.)
An Institution under the Govt. of M. P., Approved by All India Council for Technical Education,
New Delhi.Affiliated to Rajiv Gandhi Proudyogiki Vishwavidyalaya, Bhopal M.P. India.

DECLARATION

WE Ashutosh Vishwakarma, Deepesh Rajak, Deepesh Vishwakarma,

Md Kashif Mobin & Nishant Jain, a student of Bachelor Of Engineering
in Mechanical Engineering, session 2013-17, GYAN SAGAR COLLEGE
OF ENGINEERING SAGAR (M.P.), hereby declare that the work
presented in this major project entitled “Design Of Walking Mechanism
With Straight And Parallel Leg Motion” is the outcome of my own work,
is correct to the best of my knowledge and this work has been carried out
taking care of Engineering Ethics. The work presented does not infringe any
patented work and has not been submitted to any other University or
anywhere else for the award of any degree or any professional diploma.

ASHUTOSH VISHWAKARMA(0613ME131013)
DEEPESH RAJAK(0613ME131024)
DEEPESH VISWAKARMA(0613ME131025)
MD. KASHIF MOBIN(0613ME131040)
NISHANT JAIN(0613ME131047)

Date:- / /

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 GYAN SAGAR COLLEGE OF ENGINEERING SAGAR (M.P.)
An Institution under the Govt. of M. P., Approved by All India Council for Technical Education,
New Delhi. Affiliated to Rajiv Gandhi Proudyogiki Vishwavidyalaya, Bhopal M.P. India.

ACKNOWLEDGEMENT

We place on record the valuable suggestions and numerous constructive

comments rendered by Asst. Prof. R.K. RAJAK , Lecturer, Department of
Mechanical Engineering and for being our internal guide in the design and
implementation of our project, We express our deep sense of gratitude and
indebtedness to Asst. Prof. ABDUL KADIR , Head Department of
Mechanical Engineering for her valuable advice, constant encouragement
and constructive criticism during the course of the project and also during
the preparation of this manuscript, We are highly indebted to Asst. Prof.
J.S. Rao , Asst. Prof. Aslam Khan , Asst. Prof. Ramu Mishra , Asst.
Prof. Vipul Sharma Department Of Mechanical for their wholehearted
support and co-operation. We also express our sincere thanks to all the
classmates for their support and co-operation in completing the project work.
Above all, we should express our supreme gratitude to almighty God for
making this project a reality.

Design Of Walking Mechanism With Straight And Parallel Leg Motion Page V
 LIST OF CONTENTS

Certificate .................................................................................................................................02
Approval Certificate.................................................................................................................03

Candidate’s declaration ............................................................................................................04

Acknowledgement ...................................................................................................................05

Abbreviations and Acronyms ..................................................................................................07

List of Photographs ..................................................................................................................08

Abstract ...................................................................................................................................09

CHAPTER 1. INTRODUCTION ............................................................................................10

1.1 LINKAGE ..........................................................................................................................11

1.2 MOBILITY ........................................................................................................................13

1.3 FOUR BAR MECHANISM ..............................................................................................13

1.4 SIX BAR MECHANISM ..................................................................................................14

1.5 POWER SUPPLY SYSTEM .............................................................................................15

CHAPTER 2: LITERATURE REVIEW .................................................................................17

CHAPTER 3: PROBLEM FORMULATION .......................................................................19

CHAPTER 4: MATERIALS AND METHODOLOGY .........................................................20

4.1 MATERIALS .....................................................................................................................20

4.2 METHODOLOGY ...........................................................................................................21

CHAPTER 5: RESULTS AND DISCUSSION .......................................................................24

5.1 RESULT ............................................................................................................................24

5.2 DISCUSSION ....................................................................................................................25
CHAPTER 6: CONCLUSIONS ..............................................................................................26

CHAPTER 7: FUTURE SCOPE .............................................................................................27

REFERENCES ........................................................................................................................28

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 ABBREVIATIONS AND ACRONYMS

gms/Gms - Grams
Kn - Kilo Newton
kn/m - Kilo Newton /Meter
CC - Cubic Centimeter
mm - Millimeter
Mpa - Mega Pascal
RPM - Revolution Per Minute
DPDT - Double Pole, Double Throw
A.C. - Atternative Current
D.C. - Direct Current
IC(OPTIONAL) - Intigrated Circuit
PCB - Printed Circuit Board
ACC - Adavtive Crusius Circuit
CAD - Computer Aided Design

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 LIST OF PHOTOGRAPH

FIG 1.1(Diagram Of Walker) ..................................................................................................11

FIG 1.2(Linkage) .....................................................................................................................12

FIG 1.3(Four Bar Mechanism) ................................................................................................13

FIG 1.4(Six Bar Mechanism)...................................................................................................14

FIG 1.5(Battery) .......................................................................................................................15

FIG 1.6(Adapter)......................................................................................................................16
FIG 4.1(Complete Set Of Link) ...............................................................................................21

FIG 4.2(Sprocket) ....................................................................................................................22

FIG 4.3(Motor) ........................................................................................................................23
FIG 5.1(Leg Profile) ...............................................................................................................24

Design Of Walking Mechanism With Straight And Parallel Leg Motion Page VIII
 ABSTRACT

This project discloses the synthesis and fundamental kinematic analysis of mechanically
established walking and standing mechanism, as well as the design and motion simulation
of mechanical walker 3D model. Results of this simulation are exposed in various
kinematic diagrams by which the operation characteristics of the mechanism and the
walking ability of the proposed mechanical walker can be discussed and evaluated.
Practical application of this mechanical walker covers the fields of walking rehabilitation
and training in the treatment of spinal cord injured patients, as well as for standing and
walking assistance of elderly and disabled people. The Six-bar quick return mechanism
is broadly used in manufacturing industries, like slotted link shaper machine
, such type of machine
sustain varying load during the manufacturing the job. We have studied static and dynami
c force behavior of the entire mechanism particular machine of. During this research
we have observed so many different methodologies can be considered using the literature
survey. This paper deals with literature in the field of kinematic and dynamic analysis of s
ix-bar quick return mechanism. Static and dynamic force behavior of mechanism has
been discussed with different types of terminologies and methodologies. Also provide
wide range of solutions in terms of kinematics, kinetics and dynamic analysis of QR
mechanism. Here, various types of QR Mechanism, like flexible, and rigid type have been
discussed

Design Of Walking Mechanism With Straight And Parallel Leg Motion Page IX
CHAPTER 1 :- INTRODUCTION

The scope of our project is to make this robot walk on any Surfaces with a stiff gait slow
and carries a limited load . It could be used for surveillance in sewer maintenance. This
project involves the design and fabrication of a kinematic walker. A four-bar linkage, also
called a four-bar, is the simplest movable closed chain linkage. They perform a wide
variety of motions with a few simple parts. This paper involves the design, synthesis and
fabrication of one such mechanism (four bar mechanism). In this paper four Leg
Kinematic movement works on Chebyshev’s parallel motion which deals the relation
between the links. This mechanism satisfying his condition and fall into slider crank
mechanism. A frame, connecting rod, crank & a lever constitute to obtain the required
motion.

Legged machines have been used for at least a hundred years and are superior to wheels
in some aspects:

 A US Army investigation reports that about half the earth's surface is inaccessible to
wheeled or tracked vehicles, whereas this terrain is mostly exploited by legged
animals.
 Legged locomotion should be mechanically superior to wheeled or tracked
locomotion over a variety of soil conditions and certainly superior for crossing
obstacles .

In spite of all these advantages, legged machines have not been used practically in
industry as a replacing of wheeled machines. Some reasons are given below:

 The robot kinematics and dynamics are nonlinear, difficult to accurately model and
simple models are generally not adequate. Furthermore, the dynamics depend on
which legs are on the ground, and might therefore be considered as switching. Robot
parameters (centre of mass position, amount of payload etc) are not known exactly
and might also vary.
 A legged system has a lot of degrees of freedom. In order to allow a completely
decoupled motion over irregular terrain, at least three degrees of freedom per leg are
required. This results in 12 actuators for a four-legged robot. For this reason, they are
very expensive and hard to control .

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 FIG 1.1:- Diagram Of Walker

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1.1 LINKAGE:-
A linkage is an assembly of bodies connected to manage forces and
movement. The movement of a body, or link, is studied using geometry so the link is
considered to be rigid. The connections between links are modeled as providing ideal
movement, pure rotation or sliding for example, and are called joints. A linkage
modeled as a network of rigid links and ideal joints is called a kinematic chain.
Linkages may be constructed from open chains, closed chains, or a combination of
open and closed chains. Each link in a chain is connected by a joint to one or more
other links. Thus, a kinematic chain can be modeled as a graph in which the links are
paths and the joints are vertices, which is called a linkage graph.
The movement of an ideal joint is generally associated with a subgroup of the group
of Euclidean displacements. The number of parameters in the subgroup is called the
degrees of freedom (DOF) of the joint. Mechanical linkages are usually designed to
transform a given input force and movement into a desired output force and
movement. The ratio of the output force to the input force is known as the mechanical
advantage of the linkage, while the ratio of the input speed to the output speed is
known as the speed ratio. The speed ratio and mechanical advantage are defined so
they yield the same number in an ideal linkage. A kinematic chain, in which one link
is fixed or stationary, is called a mechanism, and a linkage designed to be stationary is
called a structure.

FIG 1.2 :- Linkage

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  LEG DIMENSION
1. R2’ = 1 INCH
2. R2 = 1 INCH
3. R1 = 4.6 INCH
4. R3’ = 2.3 INCH
5. R5 = 3.8 INCH
6. R6 = 4.6 INCH
 CHASSIS
7. LENGTH = 10.5 INCH
8. WIDTH = 8.2 INCH

1.2 MOBILITY:-
The configuration of a system of rigid links connected by ideal joints is
defined by a set of configuration parameters, such as the angles around a revolute
joint and the slides along prismatic joints measured between adjacent links. The
geometric constraints of the linkage allow calculation of all of the configuration
parameters in terms of a minimum set, which are the input parameters. The number of
input parameters is called the mobility, or degree of freedom, of the linkage system.

1.3 FOUR BAR MECHANISM:-

When one of the links of a kinematic chain is fixed, the chain is known as
mechanism. It may be used for transmitting or transforming motion e.g. engine
indicators, typewriter etc. A mechanism with four links is known as simple
mechanism, and the mechanism with more than four links is known as compound
mechanism. When a mechanism is required to transmit power or to do some particular
type of work, it then becomes a machine.

FIG 1.3:- Four Bar Mechanism

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The mechanism, as shown in figure1.3 has four links and four binary joints,

i.e. L = 4 and j = 4. (L=No. of links, J=No. of Joints) n=3(L-1)-2*J

∴ n = 3 (4 – 1) – 2 × 4 = 1- One Degree of Freedom In this project.

1.4 SIX BAR MECHANISM:-

A six-bar linkage is a one degree-of-freedom mechanism that is
constructed from six links and seven joints. An example is the Klann linkage used to
drive the legs of a walking machine.

In general, each joint of a linkage connects two links, and a binary link supports two
joints. If we consider a hexagon to be constructed from six binary links with six of the
seven joints forming its vertices, then, the seventh joint can be added to connect two sides
of the hexagon to forming a six-bar linkage with two ternary links connected by one joint.
This type of six-bar linkage is said to have the Watt topology.

A six-bar linkage can also be constructed by first assembling five binary links into a
pentagon, which uses five of the seven joints, and then completing the linkage by adding
a binary link that connects two sides of the pentagon. This again creates two ternary links
that are now separated by one or more binary links. This type of six-bar linkage is said to
have the Stephenson topology.

Fig1.5:- Watt Six Bar Mechanism

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1.5POWER SUPPLY SYSTEM:-
WIRE:-
Connecting wires allows an electrical current to travel from one point on a circuit to
another, because electricity needs a medium through which to move. In the case of
computers, wires are embedded into circuit boards, carrying pulses of electricity that are
interpreted as binary signals of zeros and ones.We are using 10 meter wire and 6 wire of
combination is used.

In this walker d.c. current are required so two way is used

1. Battery
2. Adaptor
1. BATTERY:-
A battery is an electrochemical cell (or enclosed and protected material) that
can be charged electrically to provide a static potential for power or released electrical
charge when needed.

Specification of battery used in walker:-

Nearly all car, motorcycle and tractor batteries are
12-volt, lead-acid batteries. These batteries can provide hundreds of amps of electrical
current for a short period of time. This is why these batteries are commonly used in
automotive applications. Not all 12-volt, lead-acid batteries are interchangeable, however.
It is important to consider the automobile's electrical requirements before attempting to
install a 12-volt battery.

FIG 1.5:- Battery

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2. ADAPTOR:-
An adapter is a physical device that allows one hardware or electronic interface to be
adapted (accommodated without loss of function) to another hardware or electronic
interface. In a computer, an adapter is often built into a card that can be inserted into a
slot on the computer's motherboard.AC adaptor is used .12v and 15 amp is specification
of adaptor.

Fig1.6:- Adapter

Design Of Walking Mechanism With Straight And Parallel Leg Motion Page XVI
CHAPTER 2:- LITERATURE REVIEW

A large number of research papers have been studied on four bar link mechanism. A
review of related literature has been described as under: Hamid M. and Saeed A. (2008)
concluded that Watt’s six-bar mechanism generates straight and parallel motion. This
mechanism can be utilized for legged machines. In this mechanism, the leg remains
straight during its contact period due to its parallel motion. The legs can be as wide as
desired to increase contact area and decrease the number of legs required to keep body’s
stability statically and dynamically.
1.Burak B. et al, (2011) designed a parallel hinged luggage door mechanism and its
kinematics analysis by an analogy to a four bar mechanism.

2.Retheesh Kumar and Prof .Akash Mohanty (2013) investigated the design, synthesis
and simulation of four bar mechanism to eliminate the plowing depth fluctuation in
tractors. The projected four bar linkage mechanism can eliminate the plowing depth
fluctuations. The output link generates exponential path suggests that initial stage link can
provide low sensitivity and later output link motion can generate high sensitivity.

3.Mulla Abdulkadar and Bhagyesh Deshmukh (2013) suggested that in the analysis of
a four bar mechanism of various combinations, it is observed that the path traced by the
link of mechanism of input link-crank and the output link-rocker mechanism are equal
replicates the path. It is essentially required in case of micro mechanisms.

4.An US army investigation reports stated that about half of the earth’s surface is
inaccessible to wheeled or tracked vehicles, whereas this terrain is mostly exploited by
legged animals.

5.M.G. Bekker concluded that legged locomotion should be mechanically superior to

wheeled or tracked locomotion over a variety of soil conditions and certainly superior for
crossing obstacles.

6. It would be difficult to compete with the efficiency of a wheel on smooth hard surfaces
but as condition increases rolling friction, this linkage walking machines become more
viable and wheels of similar size cannot handle obstacles. Based on literature review,
researcher has designed and fabricated four bar walking machine. This linkage

Design Of Walking Mechanism With Straight And Parallel Leg Motion Page XVII
mechanism is capable and enough to carry a battery and a small motor. In toy industries
for making robotic toys it has got many applications. It can also be used for military
purpose. By placing bomb detectors in the machines we can easily detect the bomb
without harmful to humans. It can be used as heavy tanker machines for carrying bombs
as well as carrying other military goods. It can be used for space research where the
wheeled machines have difficulties to move. It is also applicable in the goods industries
for the small transportation of goods inside the industry. The mountain roads or other
difficulties where ordinary vehicles cannot be moved easily can be replaced by our four
leg mechanical spider. Heavy loads can be easily transported if we made this as a giant
one. It has got further application for the study of linkage mechanism and kinematic
motions. The geometry and conditions can be changed according to application needs.
This walking machine can travel in rough surfaces very easily, so this machine can be
used in rough surfaces were ordinary moving machine cannot travel.

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CHAPTER 3:- PROBLEM FORMULATION

Literature review reveals that the main concern with the moving leg mechanism is the
number of links involved in the design of the structure, since the numbers of links are
more it is very tedious to design and operate. For the machine to move in a smooth
manner the dimensions of the pieces should precise. More priority should be given to the
position of the holes to be drilled since the movement depends on the amount of power or
motion which is transferred to the locomotive parts respective to the position of the drills.
The key to success for this mechanism is for the designer to make it locomotive even in
the roughest of terrains thus the legs form an integral part and should be designed more
cautiously. An objective is set to develop a six- legged mobile robot in this project.

 Challenges :-

 Friction(due to friction locking condition create between leg )

 stability
 Motor mount
 Slack
 Motor control

 Solutions:-

 Lubrication
 Feet addition
 Tighter motor mount
 Loctite
 driver native to drill

Design Of Walking Mechanism With Straight And Parallel Leg Motion Page XIX
CHAPTER 4:- MATERIALS AND METHODOLOGY

4.1 MATERIALS:-
Aluminum is a silvery white, soft, non-magnetic, ductile metal. Aluminum is the third
most abundant element (after oxygen and silicon), and the most abundant metal in the
Earth's crust. It makes up about 8% by weight of the Earth's solid surface. Aluminum is
remarkable for the metal's low density and for its ability to resist corrosion due to the
phenomenon of passivation. Corrosion resistance can be excellent due to a thin surface
layer of aluminum oxide that forms when the metal is exposed to air, effectively
preventing further oxidation. The strongest aluminum alloys are less corrosion resistant
due to galvanic reactions with alloyed copper. This corrosion resistance is also often
greatly reduced by aqueous salts, particularly in the presence of dissimilar metals.
Aluminum is usually alloyed – it is used as pure metal only when corrosion resistance
and/or workability are more important than strength or hardness. The strength and
durability of aluminum alloys vary widely, not only as a result of the components of the
specific alloy, but also as a result of heat treatments and manufacturing processes. The
main reason for choosing aluminum is that it is light in weight and light weight ultimately
increases the efficiency of the machine. The low density of aluminum accounts for it
being lightweight but this does not affect its strength.

• Low-carbon steel

• Bend sheet metal bod(stainess steel 16 gauge) .

• Washers, vinyl tubing, and machine screws.

• Three bicycle sprockets and Honda motor sprockets.

• Steel bar stock.

• 18V electric drill motor.

• Threaded shafts for chain tensioning.

Design Of Walking Mechanism With Straight And Parallel Leg Motion Page XX
4.2 METHODOLOGY:-

Parts Of The Walking Machine:-

A complete walking machine is as shown in figure 1.1 and their
components details are given below:

(i) Complete link set: Four sets of links were used for this machine. Mild steel plate 25
mmX4 mm thicknesses is used. Cutting, drilling and grinding processes have been
involved.

Fig 4.1:- Complete Set Of Link

(ii) Central Shaft: It is made up of mild steel rod of 30 mm diameter in two numbers.
Turning, facing and threading processes have been involved.

Design Of Walking Mechanism With Straight And Parallel Leg Motion Page XXI
(iii) Body: It is made up of MS plate of 5 mm thickness having dimension 450X300X100
mm. Cutting, bending, drilling and threading processes have been involved.

(iv) Bushing: It is made up of brass in eight numbers. Cutting, facing, turning, drilling
reaming and chamfering processes have been involved.

(v) Chain sprocket: It is made up of MS plate of 6 mm thickness in three numbers. Two

driving chain sprocket contained 36 teeth and one driven chain sprocket contained 15
teeth. Cutting, drilling and gear cutting processes have been involved.

Fig 4.2:-Chain Sprocket

Design Of Walking Mechanism With Straight And Parallel Leg Motion Page XXII
(vi) Shaft mounting: It is made up of MS plate of 8 mm thickness of dimension 40X80X8
mm in 4 numbers. Cutting, drilling and grinding processes have been involved.

(vii)Motor: An electric motor is an electrical machine that converts electrical

energy into mechanical energy. The reverse of this is the conversion of mechanical
energy into electrical energy and is done by an electric generator.
A DC Motor of 12 Volt with a current rating of 14 Amps is to produce the movement of
the machine. The motor is internal geared one. So it is strong enough to give the required
torque. It can give two different speeds in one direction and two different speeds in the
opposite direction.

Fig 4.3:- Electric Motor

(viii) Final Finishing: After connecting the links, lot of adjustments was did to make the
perfect alignment and reduce the friction. After that the remote control unit and sensor
unit is fixed. Finally the cover was made and painted.

Design Of Walking Mechanism With Straight And Parallel Leg Motion Page XXIII
CHAPTER 5:- RESULT AND DISCUTION

5.1 RESULT:-
When the linkages are connected as per the drawing, it produces the
motion same like Chebyshev‘s parallel motion. The path of the legs was analyzed by
using the AutoCAD software. For every 30° rotation of the driving arm, the path of the
end point (M) was identified and joined. The path trace by leg is as shown in figure 5.1.
The first point is at the position where the driving link is at horizontal. At 0° the leg (point
M) is at the maximum height. The analysis starts when the driving link rotates counter
clockwise.

FIG 5.1 :- Profile Of Leg

Design Of Walking Mechanism With Straight And Parallel Leg Motion Page XXIV
5.2 DISCUSSION:-
Walking machines possess several advantages over wheeled machines in
areas of variable terrain. Consider a wheel moving a constant velocity V; every point on
its perimeter is moving at a constant velocity V tangent to the curve of the wheel. A
comparable walking mechanism would be one which moves at a constant velocity V, and
where the “foot” of the walker traces out a similar circular path with a constant velocity V
at all points on the path . The most obvious advantage of the foot over the wheel is that
the foot may step over inconsistencies in the terrain. Local maxima and minima may be
completely avoided by simply stepping over them. This results in less loss of energy
during locomotion and allows the vehicle to maintain a constant velocity and height over
variable terrain.

The benefits of walking over rolling on rough terrain are summed up in

the following:

 Higher energy efficiency, better fuel economy

 Increased speed
 Greater mobility
 Improved isolation from terrain inconsistencies
 Less environmental damage (both from paving and erosion)

Design Of Walking Mechanism With Straight And Parallel Leg Motion Page XXV
CHAPYER 6:- CONCLUSION

This project describes the procedure of optimal synthesis of a four-bar linkage, with the
application of genetic algorithm and combination of cognates of the optimal mechanism
to achieve a Watt's six-bar linkage. Because the path generated by this mechanism is
almost straight in one section and completely parallel, this six-bar is very suitable for
legged robots. The coupler curve is symmetric and has no crunodes. Parallel motion of
the legs allows wide contact area of the leg with the terrain, which results in decrease of
the number of the legs needed to hold the machine stable and also has less damaging
effects to the terrain. The number of degrees of freedom is reduced to one, so the control
system and dynamics of the motion will be much easier to analyze. Unlike other straight
line path generating mechanisms introduced above, this mechanism is a crank-rocker
mechanism (i.e. there is no need to detach the linkage to achieve a complete coupler
curve) and has no dead point. However in this paper the mechanism is used for legged
robots, there would be other applications too.
The method is illustrated on the example of
rectilinear motion of the coupler point, although the method can also be very efficiently
applied when the path of the point is any algebraic curve.

 Overall, a success
 Path of the linkage deviated by a maximum 8° from the intended design
 Maximum vertical displacement of the feet <0.25in (exp. 0.75in)
 Importance of aligning high-torque components

Design Of Walking Mechanism With Straight And Parallel Leg Motion Page XXVI
CHAPTR 7:- FUTURE SCOPE OF WORK

This mechanism can be made more flexible by using different link lengths for front,
middle and hind legs. Intelligence can be induced by introducing Sensors and vision to
improve the effectiveness of this robot in future. Range of motion and moments available
at each joint are the greatest concern as it is important for achieving stance and insect like
walking.

 Future improvements:
 Keyed shafts and sprockets
 Rivets and washers
 Better motor mount

Design Of Walking Mechanism With Straight And Parallel Leg Motion Page XXVII
REFERANCE:-

[1]. S. D. Shelare, P.S. Thakare and Dr. C. C. Handa, “Computer Aided Modelling and
Position Analysis of Crank and Slotted Lever Mechanism”, International Journal of
Mechanical Engineering and Production engineering Research and Development, Volume
2, No 2, June 2012, PP 47-52.

[2]. S. D. Shelare, Prof. M.K. Sonpimple and Dr. C. C. Handa, “Sensitivity Analysis of
Quick Return Mechanism”, International Journal of Mechanical Engineering and
Research, Volume 3, No 1 spl., 2013, PP 35-39.

[3]. Ron P. Podhorodeski, Scott B. Nokleby and Jonathan D. Wittchen, “Quick-return

mechanism design and analysis”, Robotics and Mechanisms Laboratory, Department of
Mechanical Engineering, University of Victoria, PO Box 3055, Victoria, British
Columbia, Canada.

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