Study of a 4 bar system for a 3D printed quadruped
Here is an analysis of the movements for the 3D modeling
of a quadruped or hexapod mechanism. This is a
classic 4-bar linkage, which results in a fairly suitable
arrangement for a walking mechanism.
Here are tracings of the gait obtained by varying the elements
of this configuration.
The fixed points of this configuration are C which is the axis of the crank
and E which is the anchor of the rocker (E-F). E is positioned 2 units
to the left and 1 unit upwards relative to C, the axis of the crank.
The values "crank", "a" and "c" correspond to the diameter of the circle in
which these values are inscribed.
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