Numerical kinematic and kinetic analysis of a new class of twelve bar linkage for walking machines

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dc.contributor.advisor Prof. A.L. Nel en
dc.contributor.author Ingram, Anthony James
dc.date.accessioned 2008-11-19T05:28:07Z
dc.date.available 2008-11-19T05:28:07Z
dc.date.issued 2008-11-19T05:28:07Z
dc.date.submitted 2004-12
dc.identifier.uri http://hdl.handle.net/10210/1738
dc.description M.Ing. en
dc.description.abstract This study describes a new class of mechanism to provide leg like motion, for use in a new type of walking machine, that is larger and simpler than electromechanical machines that are currently available. The mechanism is located in a historic context, and current technology in this area is reviewed. The problem of calculating the geometry of the complex mechanism is solved using an innovative solution based on coordinate geometry, which may be extended to solve other planar mechanisms of either greater or lesser complexity. All assumptions have been detailed. The analysis covers both the motion and the power requirements required to make the mechanism move. Structural aspects, which may affect any practical walking machine, are covered. A software implementation has been developed, providing output to demonstrate that the model developed reflects reality, within the limits of the assumptions made. en
dc.language.iso en en
dc.subject Kinematics of machinery en
dc.subject Mechanical movements en
dc.subject Motion control devices en
dc.title Numerical kinematic and kinetic analysis of a new class of twelve bar linkage for walking machines en
dc.type Thesis en

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