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LINKAGE.WMV
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A single leg consists of a six-bar linkage made up entirely of pivot joints that converts rotating motion into linear motion. One hundred and eighty degrees of the input crank results in the straight-line portion of the path traced by the foot.
The result of two of these linkages coupled together at the crank and one-half cycle out
of phase with each other is a device that can replace a wheel and allow the frame of the vehicle to travel relatively parallel to the ground. The remaining rotation of the input crank allows the foot to be raised to a predetermined height before returning to the starting position and repeating the cycle.
These figures show a single linkage in the fully extended, mid-stride, retracted, and lifted positions of the walking cycle. These four figures show the crank (rightmost link in the first figure on the left with the extended pin) in the 0, 90, 180, and 270 degree positions.
The three U.S. patents with figures that pertain to this linkage can be viewed by clicking the buttons on the left.
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Functions for the JAVA-Challenged:
SPIDER HOME
,
CONCEPT
,
MOTION
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ENABLE TEXT
,
US PAT. 6,260,862
,
US PAT. 6,364,040
,
US PAT. 6,478,314
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© 2006 Klann R & D, LLC All rights reserved
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