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Structure Analysis of Six and Eight-Link Walking Mechanisms

Vitaliy Korendiy vitaliy.nulp [at] gmail.com
Roman Skripnik
Ihor Khomych
  1. Department of Mechanics and Automation Engineering, Lviv Polytechnic National University, Ukraine, Lviv, S. Bandery street 12.
Abstract 

Structure analysis of six- and eight-link walking mechanisms is carried out. Structure formulas of corresponding mechanisms are formed. The recommendations for further kinematic analysis method selection are presented. 

Keywords 
structure analysis
walking mechanism
degree of freedom
kinematic analysis
structure formula
drive
mover
References 
  1. V. Korendiy, “Analysis of Structure and Kinematics of Four-Bar Crank-Rocker Walking Mechanism,” Ukrainian journal of mechanical engineering and materials science, vol. 1, no. 2, pp. 21-34, 2015.
  2. V. M. Korendiy, O. S. Bushko, O. Yu. Kachur, R. Yu Skripnik, “The Analysis of Possibilities of Walking Module Equipping Based on Two Cyclic Drivers with Mechanisms of Orientation and Stabilization of Vertical Position,” (in Ukrainian), Naukovyi visnyk NLTU Ukrainy, vol. 25.8, pp. 277-285, 2015.
  3. V. M. Korendiy, O. S. Bushko, O. Yu. Kachur, R. Yu Skripnik, “Development of walking module on the basis of two cyclic drives,” (in Ukrainian), Avtomatyzatsiia vyrobnychykh protsesiv u mashynobuduvanni ta pryladobuduvanni, no. 49, pp. 26-35, 2015.
  4. Korendiy V. et al., “Mobile robotic systems with walking movers and mechanisms of orientation,” Proc. 5th International Youth Science Forum “Litteris et Artibus”, Ukraine, Lviv, Lviv Polytechnic National University, pp. 318-319, 2015.
  5. Kinytskyi Ia. T., “Structure analysis of mechanisms” in Theory of Machines and Mechanisms, (in Ukrainian). Kyiv, Ukraine: Naukova dumka, 2002.