OPTIMAL SYNTHESIS OF LEG MECHANISM FOR WALKING VEHICLE

The problem of the optimal synthesis of walking vehicle leg mechanism is considered based on planar linkage generating a family of parallel horizontal straight lines. The analytical solution is derived for least-square approximation problem that allows to reduce essentially the dimensionality of numerical optimization task. Two alternative designs have been proposed that correspond to two local minimums of the problem. The use of the proposed mechanisms can significantly simplify management and reduce energy costs.

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