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Optimization of Hoeken Mechanism for Walking Prototypes

Abstract:

Locomotion prototypes movement shows some lacks in the contact between the links and surfaces, slow speeds, wrong trajectories and variations in the height of the gravity center, that is why the purpose of the present document is to design a locomotion mechanism to minimize this problem. The purposed design in this investigation get inspired by the walker machine “plantigrade” and it is based on a Hoeken‘s mechanism modification, since it shows several movement advantages. The amendment executed is oriented towards the reduction of links which are part of the plantigrade machine, minimize the friction between the links and reduce the journey time for a stablished distance equal to 220 cm, getting parameters and equations for the design of the proposed mechanism, that owns a numeric value to the driver link equal to 2 cm, rocker, coupler and its extension to 2.5 cm and frame to 2.1 cm. To obtain a straight-line path, a gyroscope MPU 6050 is used to reduce lateral deviations. Finally, a journey time equal to 3.721 s is succeed, a reach of up till 4.5 cm, a maximum speed equal to 308 cm/s, a maximum acceleration of 281 cm/ s2, the average deviation to the left equal to 5.312 cm and an average variation of the center of gravity height equal to 0.6425 cm.