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Please use this identifier to cite or link to this item:
http://hdl.handle.net/10210/598
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| Title: | A new type of walking machine |
| Authors: | Ingram, Anthony James |
| Keywords: | Kinematics of machinery
Mechanical movements
Motion control devices
Machine design |
| Issue Date: | 10-Jun-2008 |
| 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. |
| URI: | http://hdl.handle.net/10210/598 |
| Appears in Collections: | Department of Mechanical and Manufacturing Engineering
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Files in This Item:
| File |
Description |
Size | Format |
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| A new type of mechanical walking machine.pdf | | 3333Kb | Adobe PDF | View/Open |
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