On the design of a self-balanced quadruped walking machine with ten-bar leg mechanisms

A self-balanced quadruped walking machine with leg mechanisms of 10-bar linkage is designed by a systematic approach. At first, an existing leg mechanism of 10-bar linkage is selected as the tentative design, and the dimensional synthesis is performed to obtain the desired foot trajectory by the optimization technique of ALM. Next, the speed ratio between the crank speed during the support phase and that during the transfer phase is decided by a two-speed control method to achieve a sufficient time period of support phase. Then, in order to make sure that there are always at least three legs on the ground for the wave gait to enhance the stability of locomotion, the foot point of each leg at a specific time is placed on the specific position upon the foot trajectory. The force analysis and computer simulation are carried out to evaluate the requirements for driving and to recognize the characteristics of the designed walking machine. And, the force transmission during the full cycle is realized and the specification of the driving motor is decided. Finally, a prototype of the designed quadruped walking machine is constructed and it is proven that this design is practical and feasible.