Design of Geometrical Parameters for Walking Mechanism Leg with Use of Matlab Algorithm and SimMechanics

Abstract

This article describes the design of geometrical parameters for leg of six legged walking mechanism. Design uses an algorithm in Matlab program, created to use n-variables and a dynamic model of leg build in SimMechanics. Results from dynamic analysis of model are saved into nmatrixes. These matrixes are then assessed with values of criteria to get the optimal geometrical parameters of leg. The value of criteria affects the result parameters. To set the right values of criteria is used method Comparison of pairs. The design process is made for mechanism moved at horizontal and also inclined planes.