Mechanical Walker Step-Size Adjustment for Stable Turning
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Solution Overview
Problem
Existing multi-leg walking devices face instability and asynchrony when changing direction due to varying leg speeds, especially those with at least three legs on each side.
Innovation Solution
Mechanical walkers with at least three legs on each side are controlled by modifying the relative step sizes of the legs, using linkages and a crank wheel mechanism to adjust step sizes, allowing for stable directional changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the speed of leg movement on one side is increased relative to the other to change direction, then directional movement is achieved, but stability deteriorates
Solution Approach 1:
The patent changes the parameter of step size rather than speed to achieve directional movement. By independently adjusting the step size of legs on each side through the crank wheel mechanism, the walker can turn without creating the instability that arises from asymmetric speed changes in conventional designs
Solution Approach 2:
The patent introduces dynamic adjustability of step size for each leg through the crank wheel and pin mechanism. This allows the step size to be continuously modified during operation, enabling smooth directional changes while maintaining stability by keeping leg movements more synchronized compared to fixed-speed asymmetric operation
2Stability of the object's composition
If a large number of legs are provided on each side to maintain stability during steering, then stability is improved, but device complexity increases
Solution Approach 1:
Instead of increasing the number of legs, the patent changes the operational parameter of step size to achieve stability during steering. By allowing independent step size adjustment on each side, the walker can maintain balance with fewer legs (at least three per side) while still achieving effective directional control
Solution Approach 2:
The crank wheel mechanism serves multiple functions: it drives the leg movement and simultaneously provides step size adjustment for each leg. This multi-functionality eliminates the need for additional complex control mechanisms that would be required if more legs were used, achieving stability with a simpler overall structure
3Speed
If the speed of leg movement is varied to change direction, then directional control is achieved, but asynchrony between legs increases
Solution Approach 1:
The patent changes from speed variation to step size variation as the control parameter. By adjusting the step size of individual legs through the crank wheel mechanism while maintaining more consistent speeds, the legs remain more synchronized, improving reliability and reducing the asynchrony problems that occur with speed-based directional control
Data Source
AI summary
A mechanical walker has at least three legs on each side, and relative step sizes on the left and right sides can be modified to alter directional movement of the walker. Walkers can be powered in any suitable manner, including using human and/or electrical power. Walkers preferably have an upper linkage between first and third legs, a lower linkage between first and third legs, and an intermediate linkage between second and third legs. Stepping motions on each side are executed by moving the intermediate linkage in a circular motion having a variable radius. The intermediate linkage includes a pin carried on a crank wheel to provide the circular motion, and moving the pin radially with respect to an axle of the crank wheel alters the step size.