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Title: Design of a leg mechanism with controlled phase, variable stroke and energy storage capability for high speed locomotion
Author: Oral, Hamid Alper
Awarding Body: University of Edinburgh
Current Institution: University of Edinburgh
Date of Award: 1992
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To achieve high speeds with legs, a hybrid leg mechanism, which has been named Buraq, is designed. Buraq is actuated by a motor driven crank in longitudinal direction, and by a hydraulic ram in vertical direction. The crank radius and the phase can be adjusted during operation to allow legs driven by the same shaft to change phase and longitudinal stroke, so that gait shift and steering can take place. Also a force analysis of the leg mechanism has shown that, when the vehicle is running, the Buraq legs can act like the spring of a bouncing mass-spring model. Using the method of energy storage and retrieval, it should be possible to travel at high speeds by saving considerable energy.
Supervisor: Not available Sponsor: Not available
Qualification Name: Thesis (Ph.D.) Qualification Level: Doctoral
EThOS ID:  DOI: Not available