General description of the walking machine project
Name of the walking machine/project: Walking chassis for multipurposes Begin and end of the Project: 1996-1997 Project costs: Building effort [person years]: about 20 Source of financial support:General and Special Education Ministry of Russia Research group VSTU Staff of the project: Briskin E.S., Sherstobitov S.V., Golytsyn I.V., Tchernyshyov V.V., Zhoga V.V., Rusakovsky A.E., Tcherkasov V.V., Kuznetsov S.A. Information via www: http://www.vstu.ru/projects/Site_dtm/index.htm Contact address: Briskin E.S., Volgograd State Technical University 28, Lenin`s Avenue, Volgograd, 400066 Volgograd area, Russia Tel: ++7-8442-34-2928, Email: dtm@vstu.ru Technical data of the walking machine Dimension Capacity Mobility Energy supply Length 3.4m Max. speed 0.235m/s Number of legs 8 Energy supply diesel Hight 2m Weight 1620kg Act. degrees of freedom 16 Power supply electro-mechanica Width 2.6m Load 3500kg Pas. degrees of freedom 016 Power consumption 4KW References Briskin, E.S., Sobolev, V.M. (1990). Dragging dynamics of walking machines with orthogonal gears. Problems of a Mechanical Engineering and Reliability of Machines, N 3, pages 28-34. Russia Briskin, E.S., Rusakovsky, A.E. (1992). About influence of normal vibrations on drag-clutch property of walking machines. High School News. Machinostroenje publishers, N 9, pages 116-120. Russia Briskin, E.S. (1997). About general dynamics and turn of walking machines. Problems of a Mechanical Engineering and Reliability of Machines, N 6, pages 33-40. Russia Zhoga, V.V. (1998). Computation of walking robots movement energy expenditure. Proc. 1998 IEEE International Conference on Robotics and Automation, Vol. 1, pages 163-168. Leuven, Belgium back to main page of walking machines catalogue %
Research group
VSTU
Staff of the project:
Briskin E.S., Sherstobitov S.V., Golytsyn I.V., Tchernyshyov V.V., Zhoga V.V., Rusakovsky A.E., Tcherkasov V.V., Kuznetsov S.A.
Information via www: http://www.vstu.ru/projects/Site_dtm/index.htm
Contact address:
Briskin E.S., Volgograd State Technical University 28, Lenin`s Avenue, Volgograd, 400066 Volgograd area, Russia Tel: ++7-8442-34-2928, Email: dtm@vstu.ru
Technical data of the walking machine
References
Briskin, E.S., Sobolev, V.M. (1990). Dragging dynamics of walking machines with orthogonal gears. Problems of a Mechanical Engineering and Reliability of Machines, N 3, pages 28-34. Russia
Briskin, E.S., Rusakovsky, A.E. (1992). About influence of normal vibrations on drag-clutch property of walking machines. High School News. Machinostroenje publishers, N 9, pages 116-120. Russia
Briskin, E.S. (1997). About general dynamics and turn of walking machines. Problems of a Mechanical Engineering and Reliability of Machines, N 6, pages 33-40. Russia
Zhoga, V.V. (1998). Computation of walking robots movement energy expenditure. Proc. 1998 IEEE International Conference on Robotics and Automation, Vol. 1, pages 163-168. Leuven, Belgium
back to main page of walking machines catalogue
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