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Mobile Robotic Systems with Walking Movers and Mechanisms of Orientation

Vitaliy Korendiy vitaliy.nulp [at] gmail.com
Oleksandr Bushko
Nazar Denderys
  1. Department of Mechanics and Automation in Mechanical Engineering, Lviv Polytechnic National University, Ukraine, Lviv, S. Bandery street 12
Abstract 

The expediency and areas of use of walking machines are substantiated. Three simplest diagrams of cyclic (lever) walking mechanisms (four-link, four-link with possibility of changing the position of the rocker arm rotation axis, six-link) are considered. Principal diagram of the lever mechanism of orientation of walking module with two cyclic movers is propounded and its operating features are analyzed.

Keywords 
mobile robotic system
walking mover
mechanism of orientation
principal diagram
operation features
motion parameters
mechanical trajectory of the pivot foot
References 
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  2. Ohocimskij D. E., Golubev Ju. F. “Mehanika i upravlenie dvizheniem avtomaticheskogo shagajushhego apparata” [“Mechanics and Motion Control of automatic walking apparatus”]. Moskva, Nauka, 1984, 310 p.
  3. Briskin E. S., Zhoga V. V., Chernyshev V. V., Maloletov A. V. “Dinamika i upravlenie dvizheniem shagajushhih mashin s ciklovymi dvizhiteljami” [“Dynamics and motion control of walking machines with cycle movers”]. Moskva: Mashinostroenie, 2009, 191 p.
  4. Korendii V., Bushko O., Ivanus N. “Strukturnyi i kinematychnyi analiz tsyklovykh krokuiuchykh rushiiv mobilnykh robotomekhanichnykh system” [“Structural and kinematic analysis of cyclic walking drivers of mobile robotic systems”]. Proceedings of the XII International Ukrainian Mechanical Engineers Symposium in Lviv held from 28-29 May 2015, pp. 70-71.