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.
| Identifer | oai:union.ndltd.org:bl.uk/oai:ethos.bl.uk:660216 |
| Date | January 1992 |
| Creators | Oral, Hamid Alper |
| Publisher | University of Edinburgh |
| Source Sets | Ethos UK |
| Detected Language | English |
| Type | Electronic Thesis or Dissertation |
| Source | http://hdl.handle.net/1842/12738 |
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