Study On Stability Of Multi-legged Walking Machine

Multi-legged walking machine is a redundant drive, multi-branched, time-varyingtopology motion mechanism, by mimicking the four-or six-legged animal’s foot and legstructure and movement mode to achievewalk motions.It is a foot mobile agency. Because ofthe unique way of walking, goodoff-road performance and adaptability, walking machinebecomes aHot-spot research topic both at home and abroad. Due to complex structureandcontrol, walk from most of the multi-legged walking machinesare still in the research stage.Faced with broad application prospects and market demanding, simple structuredmulti-leggedwalking machines without the complex control system becomes an important researchdirection in this area. Stability is one of the most important performanceof multi-leggedwalking machine, research on the stability hasan important significance for the developmentof multi-legged walking machine.Firstly, through the analysis of SW six-legged walking machine and prototype testing,find and analyze factors affecting stability of walking machines. Through the in-depthanalysisof SW six-legged walking machine’s leg mechanism, gaits, body and structure of thetransmission system, clear strengths and weaknesses of the original design. Verify thefeasibility and specific performance of walking machines. Analyses and tests show that SWsix-legged walking machine is reliable, fully able to realize walking function, but remainedleg stuck influence stability issues.Secondly, on stability of walking machine in test defects, gait improvement plan andsubmitted for validation. Through the research of six-legged tripod gait and stability,establishing several times for foot gait planning ideas, made a six-foot-four phase, six foot sixplan phase of gait, and other improvements. Through analysis ofposition changes of walkingfoot and gait raised critical application conditions and carried out a full analysis of the variousplans. Plan one,Plan two,Plan four, Plan six and Plan seven test plan have been selected to test.Verification results show that six-foot four-phase program to a certain extent improves thestability of walking machines, which improve the impact of the plan is most evident.Although it does not completely resolve the leg stuck, but still have some positive effects.Finally, through the analysis of relevant parameters on the stability and featuresintegrated leg mechanism, Eight-legged walking machines planresearch.Through the analysisof relevant parameters on the stability,considering the characteristicsof leg mechanism, the plan has been changed from six-foot to eight-foot. By the research on eight-foot stability, gait,and transmission system，the new eight-legged walking machine plan with former legmechanism has been proposed. Analysis shows that this plan has excellent stability and it isaneffective wayto resolvemechanism’s weaknesses.