Design and Analysis of a Low Cost And Easy Operated Leg Mechanism For A Walking Robot

Abstract

In this paper, several walking machines and robots have been conceived, designed and built in the last twenty years to open new fields of application. Compared to wheeled vehicles walking machines show the advantage that they can act in highly unstructured terrain without having prepared this terrain in advance by streets or rails. Legged robots cross obstacles more easily; depend less on the surface conditions and quality and, in general, exhibit better adaptability. In this paper a numerical and experimental analyses of a pantograph-leg are presented. In particular, a suitable model of the leg has been analyzed and Kinematics and Dynamics have been solved. A parametric study has been also carried out in order to investigate the influence of some basic design parameters on its motion capabilities.