Adapti̇ng different terrain conditions of strandbeest mechanism

With the development of technology, robots undertake many tasks in first aid and search and rescue operations in disasters, mines, submarine researches and places that are harmful to human health. Today, wheeled robots are generally used. While wheeled robots can easily move on flat ground, they face difficulties in rough terrain. Robots with gait mechanisms are preferred to make progress in rough terrain easier. These robots have at least two walking mechanisms to ensure walking. In addition, due to the balance conditions, the number of mechanisms is selected more and the robot is formed. One of the mechanisms in the robot moves idle, while the other allows the robot to advance. Mechanism must be adapted to the terrain conditions in order for the robots to move in different terrain conditions. For this, the coupler curve of the mechanism to overcome the obstacles in the field should be obtained. The Strandbeest mechanism will be optimized for different terrain conditions. In this study, the coupler curve of the Strandbeest mechanism, which is selected as the basic mechanism of the robot, is drawn. Kinematic, strength and modal analysis of the mechanism is done. Cinderella program was used for drawing the connecting curve. Limbs are modeled solid in the Solidworks program. Additionally, natural frequency values were obtained by modal analysis. As a result of strength analysis, stress and displacement values were obtained from Ansys program.