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A new type of walking machine

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dc.contributor.author Ingram, Anthony James
dc.date.accessioned 2008-06-10T11:45:19Z
dc.date.available 2008-06-10T11:45:19Z
dc.date.issued 2008-06-10T11:45:19Z
dc.identifier.uri http://hdl.handle.net/10210/598
dc.description.abstract This thesis introduces a new type of walking machine that appears promising due to its relative simplicity and efficiency. After an introduction to a selection of previous walking machines, the new machine’s history, advantages, operation and a method for solving its kinematics are given. Early attempts to optimize the mechanism to a range of criteria are described and their shortfalls exposed. A second attempt to optimize the leg geometry by genetic algorithm is detailed and the results of this search discussed. A mechanics model of a hypothetical machine is developed from first principles and the implications of the analysis described. Stability limits and tractive abilities of the machine are explored. A method for determining the loads on the links that constitute the leg and the vehicle chassis is given. A series of prototypes has been constructed and discussions of these machines are given. The most recent prototype is used in a pair of experiments to validate the kinematic and kinetic models. The experimental method, a statistical analysis of results and a discussion are provided for each. The thesis concludes by considering what work remains to be done before a practical cargo carrying transport walking machine can be designed. en
dc.description.sponsorship Prof. A.L. Nel en
dc.language.iso en en
dc.subject Kinematics of machinery en
dc.subject Mechanical movements en
dc.subject Motion control devices en
dc.subject Machine design en
dc.title A new type of walking machine en
dc.type Thesis en


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