TITLE NAME :-

TITLE NAME :

PRESENTED BY :
D.SUDHEER B.MANOHAR K.L PRASANNA N.SREETEJA P.MAHESH 07731A0354 07731A0333 07731A0340 07731A0352 07731A0330

INTRODUCTION
The six legged walker purpose is a mechanical structure with linkages driver by an electrical motor. The control of the driver is by an electrical lead wire with an option for upgrading to remote control The six legs are arranged into pairs and each pair of legs is supported and actuated by a four-bar mechanism

THE SCOPE OF THE PROJECT IS :

1. 2. 3. 4. 5. 6. Design of kinematics. Design of individual structural member. Design / scission of the motor & driver. Design of drive element. Assembly of the walker. Testing of the walker.

TYPES OF WALKERS
1. Two-legged walker. 2. Four-legged walker. 3. Six-legged walker. 4. Walker with over six legs.

MECHANICS
The first phase of the design was selection of design requirements. Some of the key objectives of the design were : Low weight Low cost Low maintenance Short fabrication time Simplicity Functionality.

FOUR BAR LINKAGE

*Four bar linkages are most preferred machine Components. * The design techniques become simpler if

one or more slider joints are included in the mechanisms.

*The exact desired motion is very rare to be produced by using four bar linkages.

*Four-bars are simple mechanisms common in

mechanical engineering machine design and fall under the study of kinematics. *Four-bar linkages perform a wide variety of motions with a few simple parts.

A four bar linkage or simply a 4-bar or four-bar is the simplest movable linkage. It consists of 4 rigid bodies (called bars or links), each attached to two others by single joints or pivots to form a closed loop.

DEGREES OF FREEDOM
Translational motions along any three mutually perpendicular axes X,Y and Z. Rotational motions about these axes. Thus a rigid body possesses 6 degrees of freedom. The number of restraints can never be Zero(joint is disconnected) or six (joint becomes solid) Degrees of freedom of a pair is defined as the number of independent relative motions, both translational and rotational, a pair can have Degrees of freedom= 6 - (number of restraints)

Kutzbach-Gruebler's equation is used to calculate the degrees of freedom of linkages.

*A simplified version of the Kutzbach-Gruebler's equation for planar linkages : m=3(n-1)-2f m =mobility = degrees of freedom. n= number of links (including a single ground link). f= number of one-degree-of-freedom kinematic pairs (pin or slider joints).

Grashof's law is applied to pinned linkages and states; The sum of the shortest and longest link of a planar four bar linkage cannot be greater than the sum of remaining two links if there is to be continuous relative motion between the links. Below are the possible types of pinned, four-bar linkages;

Inversions of a Four-Bar Mechanism

This mechanism can have four possible configurations with a different link fixed as frame each time. Configuration 1:*Link 1 is taken as the base link or frame

*In this configuration the shortest link is jointed to the base link and this joint can fully rotate and hence called as crank.

Configuration 2:* Link 2 is fixed as the base link.

* In this configuration shortest

link is the base and both joints to the base can rotate Completely.

Configuration 3:* Link 3 is fixed as the base

link *It can be observed that this configuration is same as the Crank-Rocker mechanism.

Configuration 4:*Link 4 is fixed as the base link. *In this configuration shortest link is the coupler and both the links connected to the base link cannot rotate fully, both oscillate. In this configuration the four-bar kinematic chain is called as Double-Rocker mechanism