The peculiarities of mechanism synthesizing for walking machine drives

Straight-line linkage mechanisms possess many advantages as the legs of walking machines. Four-bar linkage legs, however, do not yield proper accuracy, because it is impossible to connect a prolonged support fase and "externality" of the straight-line part off trajectory. The use of multi-bar linkage has been limited, because a simple way of synthesizing the linkage had not been available and direct trial-and-error procedures are too long and cumbersome. The design synthesis procedure for preliminary selection of the mechanism parameters is developed. A goal of the method is selection of a support part on the leg trajectory support point. Simultaneously two necessary conditions - sufficient prolongation and "externality" of that trajectory part are satisfied, having the best approximation accuracy. For decreasing of the mechanism sample the Sobol’s points are used.