Review and synthesis of a walking machine (Robot) leg mechanism

A walking machine (robot) is a type of locomotion that operates by means of legs and/or wheels on rough terrain or flat surface. The performance of legged machines is greater than wheeled or tracked walking machines on an unstructured terrain. These types of machines are used for data collections in a variety of areas such as large agricultural sector, dangerous and rescue areas for a human. The leg mechanism of a walking machine has a different joint in which a number of motors are used to actuate all degrees of freedom of the legs. In the synthesis of walking machine reported in this article, the leg mechanism is developed using integration of linkages to reduce the complexity of the design and it enables the robot to walk on a rough terrain. The dimensional synthesis is carried out analytically to develop a parametric equation and the geometry of the developed leg mechanism is modelled. The mechanism used is found effective for rough terrain areas because it is capable to walk on terrain of different amplitudes due to surface roughness and aerodynamics.publishedVersio

SOLUTION APPROACHES TO DIFFERENTIAL EQUATIONS OF MECHANICAL SYSTEM DYNAMICS: A CASE STUDY OF CAR SUSPENSION SYSTEM

Solution of a dynamic system is commonly demanding when analytical approaches are used. In order to solve numerically, describing the motion dynamics using differential equations is becoming indispensable In this article, Newton’s second law of motion is used to derive the equation of motion the governing equation of the dynamic system. A quarter model of the suspension system of a car is used as a case and sinusoidal road profile input was considered for modeling. The state space representation was used to reduce the second order differential equation of the dynamic system of suspension model to first order differential equation. Among the available numerical methods to solve differential equations, Euler method has been employed and the differential equation is coded MATLAB. The numerical result of the two degree of freedom quarter suspension system demonstrated that the approach of using numerical solution to a differential equation of dynamic system is suitable to easily simulate and visualize the system performance