Technological University (Thanlyin)

Department of Mechanical Engineering

Design and fabrication of four legged walking

machine based on Hoecken's parallel motion

13.10.2017
Supervised by
IV BE-Mech Group-VII Dr. Khaing Zaw Lin
1
 Outline of Presentation

 Introduction
 Working Principle
 Components
 Design calculation
 Conclusion & Recommendation

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 Introduction
1. This Project, “Four Legged Walking Machine”, is a four legged
walking robot
2. This machine with legs can travel over all the obstacles that come in
its path with an adequate speed
3. These types of walking machine can be used in a wide variety of
applications
4. A four-bar mechanism is the simplest movable closed chain linkage

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 Working Principle
Four Bar Mechanism,

• It may be used for transmitting or

transforming motion
• simple mechanism
• l = 4 and j = 4. (l=No. of links, J=No. of
Joints)
n=3(l-1)-2*J
4
∴ n = 3 (4 – 1) – 2 × 4 = 1- One Degree
of Freedom 2

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Methodology
For Fabrication of four leg kinematic walking machine involved the
following process.
• Step 1_Calculation of the dimensions of links
• Step 2_Cutting the materials
• Step 3_Selection of Motor
• Step 4_Selection of Sprocket & Chain
• Step 5_Installing Shaft & Bearings
• Step 6_Fixing motor
• Step 7_Final finishing work, etc.

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  Components
1. Frame
- Hollow MS (19mm x 19mm)

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2. links
Four sets of links were used for this machine.
Individual Links,

76.2mm( no.12 ) 152.4mm(no.4 ) 304.8mm(no. 4 )

Fitting with links ,

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3. Bearing
- it may prevent a motion by controlling on the moving parts .
- number = 8

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4. Shaft & Bush
shaft - a rotating machine element, usually circular in cross
section.
- number = 2 ( 355.6 mm )
= 1 ( 88.9 mm )
bush - made up of MS
- number = 16

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5. DC motor
DC motor - direct current electrical energy
- 24 V , 50 rpm , 500 W

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6. Sprocket & Chain
sprocket
• MS plate of 6 mm thickness
contained 32 teeth ( two sprocket )
contained 20 teeth. ( one sprocket )
chain
• a serial assembly of connected pieces, called links .

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7. Battery
battery - 12V with a current rating 12Ah , 20 Hr
number - 2

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 Design Calculation

Working Mechanism with Straight and Parallel Leg Motion

r = radius of driving arm ( AB )
a = Length of guiding arm
= ( 2× r )
d = length of guiding arm
= ( 2× a )
b= 0.5 × distance of big arm
=a 13
The linkage is label as shown in Figure 3. The procedure contains eliminating two
angels (𝛼, 𝛾) from coupler curve equation.
• + + + =0 ------ (1)
𝑅1 𝑅2 𝑅3 𝑅4

• asin 𝛾 + 𝑟𝑠𝑖𝑛 𝜃 − asin 𝛼 = 0 ----- (2)

• 𝑟𝑐𝑜𝑠 𝜃 + acos 𝛾 − acos 𝛼 − 𝑝 = 0 ----- (3 )

Figure. 3. Linkage notation

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By eliminating 𝛼, combining eq.2 with eq.3 and summarizing we have:

• 𝑟 2 + 𝑝2 + 2𝑎𝑟 sin 𝜃 sin 𝛾 + 2𝑎𝑟 cos 𝜃 cos 𝛾 − 2𝑟 cos 𝜃 + 2𝑎 cos 𝛾 = 0---

(4)

In the other hand the position of coupler point is:

• 𝑥 = 𝑟 𝑐𝑜𝑠 𝜃 + 2𝑎 cos 𝛾 ----- (5)

• 𝑦 = 𝑟 𝑠𝑖𝑛 𝜃 + 2𝑎 sin 𝛾 ----- (6)

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By finding 𝛾 versus 𝜃 from eq.4 and, substituting in eq.5 and eq.6 we
have:

𝑟 sin 𝜃
•𝑥 =𝑝+ (4𝑎2 − (𝑝2 + 𝑟 2 − 2𝑝𝑟 cos 𝜃)) ----- (7)
(𝑝2 +𝑟 2 −2𝑝𝑟 cos 𝜃)

(𝑝−𝑟 cos 𝜃) 4𝑎2 −(𝑝2 +𝑟 2 −2𝑝𝑟 cos 𝜃))

•𝑦= ----- (8)
(𝑝2 +𝑟 2 −2𝑝𝑟 cos 𝜃)

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Link calculation
At the point of M, one link is attached to get the parallel motion,

𝑟 sin 𝜃
𝑥 =𝑝+ (4𝑎2 − (𝑝2 + 𝑟 2 − 2𝑝𝑟 cos 𝜃))
(𝑝2 +𝑟 2 −2𝑝𝑟 cos 𝜃)

(𝑝−𝑟 cos 𝜃) 4𝑎2 −(𝑝2 +𝑟 2 −2𝑝𝑟 cos 𝜃))

𝑦=
(𝑝2 +𝑟 2 −2𝑝𝑟 cos 𝜃)

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Leg 3 Leg 4
Crank

Coupler

Output

Leg 1 Leg 2 18
Leg 1

At 𝜃 = 0,
x= 125 mm
y= 300.533 mm

One step = 296.266 + ( - 42.393 )

=253.873 mm
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leg 2

At 𝜃 = 90,
x= 264.058 mm
y= 228.346 mm

One step = 296.266 + ( - 42.393 )

=253.873 mm
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Leg 3

At 𝜃 = 180,
x= 127 mm
y= 227.178 mm

One step = 296.266 + ( - 42.393 )

=253.873 mm 21
Leg 4

At 𝜃 = 270,
x= -10.058 mm
y= 228.422 mm

One step = 296.266 + ( - 42.393 )

=253.873 mm
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• Leg 1
θ X (mm) Y (mm)
0˚ 127 300.533
30˚ 250.317 251.206
60˚ 296.266 228.016
90˚ 246.058 228.346
120˚ 218.872 228.895
150˚ 184.379 228.346
180˚ 127 227.178
210˚ 69.621 228.346
240˚ 35.113 229.87
270˚ -10.058 228.346
300˚ -420393 228.016
330˚ -29.896 251.206
360˚ 127 300.482 23
• Leg 2
θ X (mm) Y (mm)
90˚ 246.058 228.346
120˚ 218.872 228.895
150˚ 184.379 228.346
180˚ 127 227.178
210˚ 69.621 228.346
240˚ 35.113 229.87
270˚ -10.058 228.346
300˚ -420393 228.016
330˚ -29.896 251.206
360˚ 127 300.482
0˚ 127 300.533
30˚ 250.317 251.206
60˚ 296.266 228.016 24
• Leg 3 θ X (mm) Y (mm)
180˚ 127 227.178
210˚ 69.621 228.346
240˚ 35.113 229.87
270˚ -10.058 228.346
300˚ -420393 228.016
330˚ -29.896 251.206
360˚ 127 300.482
0˚ 127 300.533
30˚ 250.317 251.206
60˚ 296.266 228.016
90˚ 246.058 228.346
120˚ 218.872 228.895
150˚ 184.379 228.346
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• Leg 4 θ X (mm) Y (mm)
270˚ -10.058 228.346
300˚ -420393 228.016
330˚ -29.896 251.206
360˚ 127 300.482
0˚ 127 300.533
30˚ 250.317 251.206
60˚ 296.266 228.016
90˚ 246.058 228.346
120˚ 218.872 228.895
150˚ 184.379 228.346
180˚ 127 227.178
210˚ 69.621 228.346
240˚ 35.113 229.87
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Sprocket Calculation
p = pitch chain
d1 = roller diameter max
d = pitch circle diameter
df = root circle diameter
da = top diameter
r1 = tooth radius
r2 = tooth profile radius
τ = tooth angle
X = roller contact angle
k = tooth height above pitch polygon
Z = number of teeth

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 𝑝
•d= 180
sin 𝑍

• df = d – d1
• da = d + 1.25 p – d1
𝜋𝑑𝑛
• Chain speed, V1 =
60000
𝑍1 𝑉2
• Velocity Ratio of Chain Drive, 𝑉. 𝑅 = =
𝑍2 𝑉1

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• For smaller sprocket,
d = 81.184 mm
df = 80.384 mm
da = 96.259 mm

• For larger sprocket,

d = 129.569 mm
df = 128.769 mm
da = 144.644 mm

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• Velocity Ratio, 𝑉. 𝑅 = 0.625

Chain speed, V1 = 0.255 m/s (smaller sprocket)

Chain speed, V2 = 0.159 m/s (larger sprocket)

• One step movement = 253.873 mm

• Total movement = 253.873 x 50
= 12693.65 mm/min

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Strength of Material
Mild steel plate,
Tensile strength, σ = 370 MN/m2

• Area, A = 15 mm2
• Torque, T = 394.59 Nm
• Force, F = 318310 N
• Stress, 𝜎 = 21.221 MN/m2 < 370 MN/m2

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 Shaft Design
• Cast iron, Su = 900 MN/m2
Sy= 400 MN/m2
Assume slack sight, T2 = 0

9550 ×𝑘𝑊
• 𝑀𝑡 =
𝑟𝑝𝑚

• 𝑀𝑡 = 𝑇1 − 𝑇2 𝑟

• 𝑀𝑏 = 𝑀1 2 + 𝑀2 2
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Ss = 0.18 Su
Ss = 0.3 Sy
( choose smaller value Ss )

For rotating shaft,

Kb = 1.5, Kt = 1.0

By ASME CODE Equation for solid shaft without axial load.

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𝑑3 = (𝐾𝑏 𝑀𝑏 )2 +(𝐾𝑡 𝑀𝑡 )2
𝜋𝑆𝑠

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 Conclusion & Recommendation
• Mammalian-like four-legged walking machine
• Hoecken's parallel motion
• Two-dimensional motion
• Focus on kinematic analysis
• Material selection

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Thank U
Thank U
Thank U
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