Design and experimental analysis of steerable Chebyshev bionic walking mechanism

To realize bionic walking through simple control and improve the application value of the Chebyshev mechanism, a bionic walking mechanism based on RHRSR space 5 bars was proposed innovatively. First, the author carries out the overall design. In this section, the configuration evolution design of the traditional Chebyshev bionic walking mechanism, which can only walk in a straight line, was carried out. Two revolute joints of the original mechanism be replaced with a spherical and cylindrical joint. To research the motion space of the foot trajectory, the kinematic model of the space five bars was established by vector method. A set of suitable length parameters of linkages and flexible plantar structure was proposed. Then, the detailed design of the mechanical system is carried out after the design parameters are determined. In this section, the design process and structure of walking legs, and driving mechanisms are described in detail. Further, the virtual prototype model is established by ADAMS, and the strength analysis of the key parts is completed by using INSPIRE. The virtual prototype simulation experiments studied the walking mechanism and steering ability. Finally, the experimental prototype was processed through additive manufacturing, and the bionic walking experiments were carried out. The results show that the space five-bars mechanism and flexible planter make the Chebyshev bionic walking mechanism able to walk stability and steer flexibly. The experimental analysis results verify the feasibility of this design and provide technical support for the research and development of the same type of walking robot.