The purpose of this study is to propose a new quadruped walking machine and investigate its dynamics. This paper first proposes a new quadruped walking machine and introduces its structure. The basic theory behind the equation of motion is briefly introduced. The dynamic characteristics of the walking machine, including the position, velocity, acceleration, support leg sequence, foot trajectory and pitch angle, are investigated and compared with the existing design. The results show that better transmission efficiency is achieved when the driving torque of the walking machine acts on the shaft of the crank. Compared to the existing design, the design proposed in this study has fewer changes in pitch angle during movement and exhibits less skidding while changing support leg.
The purpose of this study is to investigate the effect of driving method and crank arrangements on the performance of a reconstructed ancient Chinese wooden horse carriage. The results demonstrate better transmission efficiency when the driving torque of wooden horse carriage acts on the crank shaft. The analysis of crank arrangements shows that the phase angle between front and rear legs on the same side should be 0 deg or 90 deg and the one between the legs on the different sides should be 180 deg. These results are beneficial to the future reconstruction of the ancient Chinese wooden horse carriage.
The purpose of this study is to investigate the effect of crank arrangement on the dynamics of a quadruped walking machine. The dynamic characteristics of the walking machine, including the stance leg sequence, pitch angle and dynamic response of the quadruped walking machine are investigated and compared with the existing design. The results show that the phrase angle between front and rear legs on the same side should be 0o or 90o and the one between the legs on the different sides should be 180o. The results of this study can serve as a reference for future design and optimization of quadruped walking machines.
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