A crank is a commonly used drive element especially in four-bar mechanisms. Even though it was previously used in legged vehicle applications, it has been abandoned due to its inflexibility and lack of control. However, in high speed legged vehicle applications, a crank is necessary due to its reliability and dynamic characteristics. This paper outlines a crank mechanism design, where radius and phase can be changed, to be used in legged vehicle applications. Radius change provides the control over foot stroke enabling steering, while phase change provides the control over the gait of the vehicle enabling efficient locomotion at various speeds.


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    Title :

    A crank mechanism with variable radius and phase


    Additional title:

    Ein Getriebemechanismus mit variablem Radius und variabler Phase


    Contributors:

    Published in:

    Publication date :

    1997


    Size :

    7 Seiten, 7 Bilder, 2 Tabellen, 10 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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