Design, Analysis and Fabrication of a Six-Legged Walking Machine

This paper presents the steps involved in the design, analysis and fabrication of a six-legged walking machine. The suggested machine uses the basic four bar chain mechanism and slotted lever type quick return mechanism with some modifications. The synthesis of the link lengths is based on Freudenstein’s (algebraic) three accuracy points. The velocity and acceleration analysis of oscillating links explains the effect of change in the crank’s angular velocity and acceleration on all other links. The suggested machine is capable of moving forward and backward, turning right and left and rotating around a point on the commands given.