International Journal of Computer Trends and Technology (IJCTT) volume 4 Issue 8 August 2013

ISSN: 2231-2803 http://www.ijcttjournal.org Page 2488

Design and Analysis Of A Walking Robot Leg Mechanisam At High Speeds With A Fully
Rotative Actuation (1 DOF)
K. Gouthami, K. Madhava Reddy
Dept. of Mechanical Engineering, G. Pulla Reddy Engineering College, Autonomous, Kurnool

Abstract: In this project a study of feasibility for a easy
operated with using only one fully rotating actuation
mechanism of the robot leg has been carried out. In
particular, in this project the numerical analysis of a
one-degree of freedom (DOF) pantograph and
chebyshev leg mechanism for walking machines is
designed , analyzed and simulation has been carried out
. In particular, the motion capability of the leg has been
studied, together with theoretical acceleration, velocity
of the components of the mechanism. A parametric
study has been also carried out in order to investigate
the influence of some basic design parameters on motion
capabilities of the leg. By using MATLAB/PRO-E the
motion capabilities of the proposed mechanism has been
carried out. Also with the help of ANSYS the effect on
motion capabilities of the mechanism is found when the
mechanism runs at high speed.
Keywords: Robot, Pantograph and chebyshev
mechanism, four bar mechanism, MAT Lab, ANSYS.
I.INTRODUCTION
Traditionally, most mobile robots have been
equipped with wheels. The wheel is easy to control
and direct. It provides a stable base on which a robot
can maneuver and is easy to build. One of the major
drawbacks of the wheel, however, is the limitation it
imposes on the terrain that can be successfully
navigated. A wheel requires a relatively flat surface
on which to operate.
Rocky or hilly terrain, which might be found
in many applications as forestry, waste clean-up and
planetary exploration, imposes high demands on a
robot and precludes the use of wheels. A second
approach to this problem would be to use tracked
wheel robots. For many applications this is
acceptable, especially in very controlled
environments.

However, in other instances the environment
cannot be controlled or predicted and a robot must be
able to adapt to its surroundings. Such a surrounding
can be places where robots would have to step over
the obstacles such as a surface where pipes are
running and where they have to move on
discontinuous terrain like steps. Research into legged
International Journal of Computer Trends and Technology (IJCTT) volume 4 Issue 8 August 2013

ISSN: 2231-2803 http://www.ijcttjournal.org Page 2489

robotics promises to overcome these difficulties.
The complexity of control required for a
legged robot to navigate autonomously over
unfamiliar terrain has made them difficult to build.
Recent developments in embedded controller
technology have yielded very sophisticated computing
devices in relatively small, easily programmed
modules. With these advanced components, it is now
possible to control relatively complex and
sophisticated devices.
II. RELATED WORK
Morecki A.: Biomechanical Modeling of
Human Walking, in this paper the kinematic analysis
and design are presented for a 1-DOF (Degree-of-
Freedom) pantograph-leg for walking machines. A
preliminary prototype of a low-cost leg, which is
capable of a straight walking with only one actuator,
has been designed and built at LARM: Laboratory of
Robotics and Mechatronics in Cassino. Simulation
and experimental validation have been carried out to
verify the operation of the prototype.
F.Pfeiffer, T.Zielinska: Walking: Biological and
Technological Aspects, In this paper the analysis and
design are presented for a 1-DOF (Degree-Of-
Freedom) leg-wheel walking machine. A preliminary
prototype of a low-cost robot, which is capable of a
straight walking with only one actuator, has been
designed and built experimental validation have been
carried out to verify the operation of the prototype.
III. DESIGN MECHANISM
CHEBYSHEV MECHANISM: In the 1850s
Chebyshev proposed a mechanism with revolute
joints. This allowed walking to be developed much
more easily. Thus, the body can move horizontally by
moving the feet and legs in a fixed pattern, and many
by using coupler curve.

Chebyshev mechanism
walking automata were designed by this
mechanism. Chebyshev mechanism is a four bar
mechanism used for development of approximate
straight line motion
For chebyshev mechanism to generate the straight
line it must satisfy following condition 3*a-m=2*c

International Journal of Computer Trends and Technology (IJCTT) volume 4 Issue 8 August 2013

ISSN: 2231-2803 http://www.ijcttjournal.org Page 2490

PANTOGRAPH MECHANISM: Pantograph
mechanism is one, which is used for enlarging or
reducing exactly similar parts traced by one point at
the other location.


Pantograph mechanism.
The ratio of BC/BF in our mechanism is 2
so the path generated by chebyshev is reversed and
doubled in our mechanism
One of the typical forms of pantograph
FB =BA and BC =AD =DE
Here, if A is fixed point, the point E will
invert and magnify the motion of point F by an
amount BC / BF.
If on the other hand, F is used as the fixed
point and A is free to move then E will magnify the
motion of A by an amount [1 (BC / BF)]. This
linkage allows linear actuators to be used for
positioning point E in the plane XY
IV. MODELING OF ROBOTIC LEG
The parametric study of the mechanism has
been conducted to obtain the required trajectory of
the proposed mechanism for a walking Robert leg.
The numerical analysis has been simulated by using
MAT lab as well with PRO-E software
Initially the mechanism is simulated for the
crank speed of 22 RPM. At this speed the reference
point A of the mechanism displacements velocities
and accelerations have been found by considering the
links are elastic members with the help of ANSYS.

FE-model created in ansys for robot leg mechanism
V. RESULTS & CONCLUSIONS
Initially the mechanism is simulated for the
crank speed of 22rpm. The speed of the crank is
increased in steps of two times, three times, four
times and five times. Finally it has been observed that
for the crank speed at five times i.e., at 110rpm the
elastic displacements, velocities and accelerations
found byANSYS are comparable with the rigid body
displacements, velocities and accelerations found by
SOLIDWORKS. Hence this mechanism can run up
International Journal of Computer Trends and Technology (IJCTT) volume 4 Issue 8 August 2013

ISSN: 2231-2803 http://www.ijcttjournal.org Page 2491

to 110 rpm crank speed so that the inertia effect will not affect the performance of the mechanism.

DISPLACEMENT IN X DIRECTION AT 22 RPM

DISPLACEMENT IN Y DIRECTION AT 22 RPM

DISPLACEMENT IN X DIRECTION AT 110 RPM

DISPLACEMENT IN Y DIRECTION AT 110 RP

VELOCITY IN X DIRECTION AT 22 RPM

VELOCITY IN Y DIRECTION AT 22 RPM

International Journal of Computer Trends and Technology (IJCTT) volume 4 Issue 8 August 2013

ISSN: 2231-2803 http://www.ijcttjournal.org Page 2492


VELOCITY IN X DIRECTION AT 110 RPM

VELOCITY IN Y DIRECTION AT 110 RPM

ACCELERATION IN X DIRECTION AT 22 RPM

ACCELERATION IN Y DIRECTION AT 22 RPM


ACCELERATION IN X DIRECTION AT 110 RPM

ACCELERATION IN Y DIRECTION AT 110 RPM

International Journal of Computer Trends and Technology (IJCTT) volume 4 Issue 8 August 2013

ISSN: 2231-2803 http://www.ijcttjournal.org Page 2493

Angle
Chebyshev Mechanism
1 2 3
X(mm) Y(mm) X(mm) Y(mm) X(mm) Y(mm)
30 -28.39 -12.50 10.25 -61.45 48.85 -110.80
330 -28.34 12.50 -38.60 -49.15 -48.85 -110.80
60 -37.50 -21.65 10.56 -61.60 58.63 -101.55
180 -75 0 -37.50 -50 0 -100
360 -25 0 -12.50 -61.23 0 -122.47
CHEBYSHEV CRANK ANGLES
Angle

Pantograph Mechanism
4 5 6 7
X(mm) Y(mm) X(mm) Y(mm) X(mm) Y(mm) X(mm) Y(mm)
30 -0.28 -120 -98.58
-
138.38
-98.29
-
248.38
-97.71
-
468.38
330 -77.41
-
151.85
-
134.50
-
233.93
-57.10
-
312.08
69.43
-
489.55
60 12.44
-
120.70
-79.92
-
159.01
-92.37
-
268.31
-
117.26
-
486.89
180 -41.37
-
128.07
-
124.10
-
184.23
-82.74
-
286.15
0 -490
360 -49.16
-
131.59
-
147.50
-
149.84
-98.32
-
248.24
0
-
445.05
PANTOGRAPH CRANK ANGLE

International Journal of Computer Trends and Technology (IJCTT) volume 4 Issue 8 August 2013

ISSN: 2231-2803 http://www.ijcttjournal.org Page 2494

DISPLACEMENT OF A ALONG X-DIRECTION (M)
R.P.M From ANSYS
22 2 X 10
-8

44 3.8 X 10
-8

66 6X 10
-8

88 8 X 10
-8

110 10 X 10
-8

DISPLACEMENT OF A ALONG Y-DIRECTION (M)
R.P.M From ANSYS
22 1.26 X 10
-8

44 2.6 X 10
-8

66 4 X 10
-8

88 5.2 X 10
-8

110 6.4 X10
-8

VELOCITY OF A ALONG X-DIRECTION (M/SEC)
R.P.M From ANSYS
22 3.8 X 10
-5

44 7.4 X 10
-5

66 11 X 10
-5

88 15 X 10
-5

110 18 X 10
-5

VELOCITY OF A ALONG Y-DIRECTION (M/SEC)
R.P.M From ANSYS
22 0.7 X 10
-4

44 1.5 X 10
-4

66 2.1 X 10
-4

88 3 X 10
-4

110 3.6 X 10
-4

ACCELERATION OF A ALONG X-DIRECTION (M/SEC
2
)

R.P.M From ANSYS
22 0.6
44 1.2
66 1.8
88 2.5
110 3.2
ACCELERATION OF A ALONG Y-DIRECTION
(M/SEC
2
)
R.P.M From ANSYS
22 2.1
44 4.2
66 6.25
88 9
110 11
ACKNOWLEDGEMENT
The authors would like to thank the
anonymous reviews for their comments which were
very helpful in improving the quality and
presentation of this paper.
REFERENCES
[1] PurushothamA: Investigations on dynamic stability of
a walking robotic system, Doctoral Thesis, Osmania
University Hyderabad, 2008 (India).
[2] Ottaviano E., Ceccarelli M., Tavolieri C.: Kinematic
and Dynamic Analyses of a Pantograph-Leg for a
Biped Walking Machine, 7th CLAWAR, Madrid 2004,
pp. 561-56
[3] Morecki A.: Biomechanical Modeling of Human
Walking, 9
th
World Congr. on the Theory of Mach. and
Mech., Milan, Vol. 3, 1995, pp. 2400-2403

[4] Hirose S., Kunieda O.: Generalized Standard Foot
Trajectory for a Quadruped Walking Vehicle, The Int.
J nl. Of Rob. Research, Vol. 10, No. 1, 1991, pp. 3-12
International Journal of Computer Trends and Technology (IJCTT) volume 4 Issue 8 August 2013

ISSN: 2231-2803 http://www.ijcttjournal.org Page 2495

[5] Yoneda K.: Design of Non-Bio-Mimetic Walker with
Fewer Actuators, 4th CLAWAR,Karlsruhe, 2001, pp.
115-126
[6] Song S. M., Lee J. K, Waldron K.J .: Motion Study of
Two and Three Dimensional Pantograph Mechanisms,
Mech. and Mach. Theory, 1987.
[7] M. H. Raibert: Legged Robots That Balance. MIT
Press, 1986, pp. 3-14
[8] F.Pfeiffer, T.Zielinska: Walking: Biological and
Technological Aspects, International Centre for
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Springer Wien New York, 2004, pp. 1-29.